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Modeling of controlled motion of semi-passively actuated SCARA-like robot

Mathias Lidberg (Institutionen för mekanik och hållfasthetslära, Mekanik) ; Viktor Berbyuk (Institutionen för mekanik och hållfasthetslära, Mekanik)
Göteborg : Chalmers University of Technology, 2000. - 6 s.
[Rapport]

The controlled motion of a new structure of manipulator robot is under study. In comparison with the well-known SCARA robot the proposed robotic system has the following new features: in addition to powered drives it comprises several unpowered (passive) spring-damper-like drives. An additional link has also been incorporated into the structure that gives the possibility to obtain a semipassively actuated closed-loop chain robot. Special emphasis is put on a study of the interaction between the controlling stimuli of the powered drives and the torques exerted by the unpowered drives needed to provide the energy-optimal motion of the robot. Computer simulations have demonstrated the numerical efficiency of the developed algorithms and have proved several advantages of the considered semipassively actuated closed-loop robot.



Denna post skapades 2006-09-19. Senast ändrad 2015-12-17.
CPL Pubid: 11180

 

Institutioner (Chalmers)

Institutionen för mekanik och hållfasthetslära, Mekanik (1972-2003)

Ämnesområden

Övrig teknisk mekanik

Chalmers infrastruktur

Ingår i serie

Communications from the Division of Mechanics, Chalmers University of Technology, Gothenburg, Sweden CTH 2000:2