ON THE DESIGN OF A DIRECT DRIVE 5-BAR-LINKAGE MANIPULATOR

被引：12
作者：
HUISSOON, JP
WANG, D
机构：
[1] Deptartment of Mechanical Engineering, Department of Electrical and Computing Engineering, University of Waterloo, Waterloo
来源：
ROBOTICA | 1991年 / 9卷
基金：
加拿大自然科学与工程研究理事会;
关键词：
DIRECT-DRIVE ROBOT; 5-BAR LINK; DESIGN; PROTOTYPE;
D O I：
10.1017/S026357470000062X
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
The 5-bar-linkage manipulator configuration is well suited to many industrial robotic applications. Aside from kinematic suitability, the dynamic equations are greatly simplified due to a decoupling of the manipulator inertia matrix. The design also lends itself to the use of direct drive motors. However, these motors must be capable of providing a high continuous torque to counter gravitational loading in the conventional manipulator design. In this paper, the static and dynamic design of the 5-bar-linkage manipulator is analysed. A technique is proposed whereby the motor torque requirements may be reduced to a fraction of those required in the conventional design, while simultaneously retaining the advantage of a decoupled inertia matrix. Details of a prototype manipulator and experimental results of its performance are presented.
引用
收藏
页码：441 / 446
页数：6
相关论文
共 6 条
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