SPEEDING UP ROBOT MANIPULATORS WITH ELASTIC JOINTS | ||||
| ERJ. Engineering Research Journal | ||||
| Article 9, Volume 23, Issue 2, April 2000, Page 179-185 PDF (293.62 K) | ||||
| Document Type: Original Article | ||||
| DOI: 10.21608/erjm.2000.71338 | ||||
 View on SCiNiTO | ||||
| Authors | ||||
| Salem Samak1; Bilal Maher2 | ||||
| 1Prod. Eng. and Mech. Design Department Fauclty of engineering El-Menoufiya University Shebin El-Kom, EGY | ||||
| 2Basic Eng. Sciences DepartmentEl-Menoufiya University Faculty of Engineering Shebin El-Kom, EGYPT | ||||
| Abstract | ||||
| The dynamic formulations of manipulators lead to a set of highly nonlinear and strongly coupled differential equations which represents the dynamic model of a manipulator. Beside many other forces, this model describes the actuator forces (or torques) which cause the manipulator joints to move. In this paper, manipulator joints are modeled as elastic springs with joint stiffness in order to impose elastic forces to the dynamic system model and to monitor their influences when speeding up the manipulator end-effector. The kinematic relationships are described by using the zero-reference-position method. Both the inverse and direct dynamics problems are developed by appl~ng Kane's dynamical equations as an analytical tool. A Stanford-type manipulator is considered as a numerical example. The implications of the results are monitored, compared and justified. | ||||
| Keywords | ||||
| Manipulators; Robotics; Joint Stiffness; Joint Elasticity; Precision | ||||
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