EFFECT OF MASS BALANCING ON THE ACTUATOR TORQUES OF A MANIPULATOR

被引：20

作者：

DIKEN, H

机构：

[1] Istanbul Technical University, Aeronautical and Astronautical Faculty, 80626 Maslak, Istanbul

来源：

MECHANISM AND MACHINE THEORY | 1995年 / 30卷 / 04期

关键词：

D O I：

10.1016/0094-114X(94)00060-X

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

In this paper the method of dynamically equivalent mass distribution is applied to the arms of the revolute type manipulator. To the new system balancing masses are added to eliminate the gravity terms of the dynamic equations. Original manipulator is compared with the balanced arm manipulator in terms of actuator torques and consumed energy. Balancing greatly reduced the required actuator torques and also consumed energy.

引用

页码：495 / 500

页数：6

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