Torque Minimisation of the 2-DOF Serial Manipulators via an Adaptive Counterweight System

被引：0
|
作者：
Arakelian, V. [1 ]
Van Rhijn, J. [1 ,2 ]
Riwan, A. [2 ]
机构：
[1] Inst Natl Sci Appl, Dept Genie Mecan & Automat, 20 Ave Buttes de Coesmes,CS 14315, F-35043 Rennes, France
[2] CEA, LIST, LRM, F-92265 Fontenay Aux Roses, France
来源：
RECONFIGURABLE MECHANISMS AND ROBOTS | 2009年
关键词：
torque minimisation; static balancing; counterweight system; serial manipulator; PARALLEL MECHANISMS; LEG ORTHOSIS; SPRINGS; ROBOTS;
D O I：
暂无
中图分类号：
TH [机械、仪表工业];
学科分类号：
0802 ;
摘要：
This paper deals with the analytically tractable solution for input torques minimisation of two degrees of freedom serial manipulators via optimal dispositions of the counterweights. For this purpose, the torques due to the dynamic loads of the counterweights are presented as a function of the counterweight positions. The conditions for optimal balancing are formulated by minimisation of the root-mean-square value of the input torque including the dynamic loads of the unbalanced manipulator and counterweights. The suggested approach is illustrated by numerical simulations carried out using ADAMS software.
引用
收藏
页码：335 / +
页数：2
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