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...

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Bibliographic Details
Published inMechatronics (Oxford) Vol. 3; no. 6; pp. 767 - 782
Main Authors Filaretov, V.F., Vukobratović, M.K.
Format Journal Article
LanguageEnglish
Published Elsevier Ltd 01.12.1993
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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