Static balancing and dynamic decoupling of the motion of manipulation robots
The conditions for simplification of moment actions of the particular DOFs of a manipulator are derived, and the individual components of the moment actions are determined. Mechanical unloading of a multi-link manipulator from the moments due to gravitational forces are also analysed. The specificit...
Saved in:
Published in | Mechatronics (Oxford) Vol. 3; no. 6; pp. 767 - 782 |
---|---|
Main Authors | , |
Format | Journal Article |
Language | English |
Published |
Elsevier Ltd
01.12.1993
|
Online Access | Get full text |
Cover
Loading…
Summary: | The conditions for simplification of moment actions of the particular DOFs of a manipulator are derived, and the individual components of the moment actions are determined. Mechanical unloading of a multi-link manipulator from the moments due to gravitational forces are also analysed. The specificity of dynamic decoupling of the manipulator motion is considered. Examples of different types of balancing and unloading with manipulation mechanisms are given. |
---|---|
ISSN: | 0957-4158 1873-4006 |
DOI: | 10.1016/0957-4158(93)90062-7 |