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

Mathias Lidberg (Institutionen för tillämpad mekanik, Dynamik) ; Viktor Berbyuk (Institutionen för tillämpad mekanik, Dynamik)
Proceedings of the 7th Mechatronics Forum International Conference, 6-8 September 2000, Atlanta, Georgia, USA, PERGAMON, 2000. (2000)
[Konferensbidrag, refereegranskat]

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 2005-12-03. Senast ändrad 2015-12-17.
CPL Pubid: 5697


Institutioner (Chalmers)

Institutionen för tillämpad mekanik, Dynamik


Teknisk mekanik

Chalmers infrastruktur