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Manipulator System (manipulator + system)

Distribution by Scientific Domains
Engineering100%

Kinds of Manipulator System

  • robotic manipulator system
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    Selected Abstracts

    A Unified Dynamic Model Formulation for Robotic Manipulator Systems

    JOURNAL OF FIELD ROBOTICS (FORMERLY JOURNAL OF ROBOTIC SYSTEMS), Issue 10 2003
    Anjan Kumar Swain
    This paper addresses the problem of the formulation of a unified dynamic model for sundry robotic manipulator systems derived from the first principle of mechanics instead of the existing formulation based on linear separability principle. It provides a systematic derivation, evaluation, and subsequent conceptual interpretation of manipulator dynamics model. Further, it analyzes the generality of the unified model over a wide range of manipulator configurations. In addition, it describes the implementation aspects of the unified model. © 2003 Wiley Periodicals, Inc. [source]

    Kinematic and dynamic analysis of open-loop mechanical systems using non-linear recursive formulation

    INTERNATIONAL JOURNAL FOR NUMERICAL METHODS IN BIOMEDICAL ENGINEERING, Issue 12 2006
    Yunn-Lin Hwang
    Abstract In this paper, a non-linear recursive formulation is developed for kinematic and dynamic analysis of open-loop mechanical systems. The non-linear equations of motion are developed for deformable links that undergo large translational and rotational displacements. These equations are formulated in terms of a set of time invariant scalars and matrices that depend on the spatial co-ordinates as well as the assumed displacement field, and these time invariant quantities represent the dynamic coupling between the rigid-body modes and elastic deformations. A new recursive formulation is presented for solving equations of motion for open-loop chains consisting of interconnected rigid and deformable open-loop mechanical systems. This formulation is expressed by the recursive relationships and the generalized non-linear equations for deformable mechanical systems to obtain a large system of loosely coupled equations of motion. The main processor program consists of three main modules: constraint module, mass module and force module. The constraint module is used to numerically evaluate the relationship between the absolute and joint accelerations. The mass module is used to numerically evaluate the system mass matrix as well as the non-linear Coriolis and centrifugal forces associated with the absolute, joint and elastic co-ordinates. Simultaneously, the force module is used to numerically evaluate the generalized external and elastic forces associated with the absolute, joint and elastic co-ordinates. Computational efficiency is achieved by taking advantage of the structure of the resulting system of loosely coupled equations. The solution techniques used in this investigation yield a much smaller operations count and can more efficiently implement in any computer. The algorithms and solutions presented in this paper are illustrated by using an industrial robotic manipulator system. The numerical results using this formulation are also presented and discussed in this paper. Copyright © 2006 John Wiley & Sons, Ltd. [source]

    Gravity compensation of spatial two-DOF serial manipulators

    JOURNAL OF FIELD ROBOTICS (FORMERLY JOURNAL OF ROBOTIC SYSTEMS), Issue 7 2002
    T. Wongratanaphisan
    This article presents the analysis of gravity compensation of a two-DOF serial manipulator operating in three-dimensional space by means of linear spring suspension. The physical configuration of the serial manipulator is assumed general. The analysis begins with gravity compensation of a one-DOF manipulator in order to form the basis which is then extended to a two-DOF manipulator. The approach taken in the analysis is that of conservation of potential energy. The goal is to seek the location and the stiffness of springs that provide complete compensation of gravity in the manipulator system. It has been found that complete compensation of gravity in a two-DOF serial manipulator system is possible. Unlike many previous works on spring suspension of a rigid body, which assume that one end of the suspending spring is attached to ground, it is proven in this study that, for complete compensation in a two-DOF manipulator, the spring that suspends the distal link cannot be connected to ground. Instead, it must be in certain motion relative to the proximal link. The discussion on how to provide such a motion for the spring is given. It is also explained how the problem of gravity compensation of a robot manipulator can be shifted to that of changing gravity environment within a manipulator system. The concept can be applied to simulation and testing of robot manipulators that will be sent to operate in a different gravity environment, such as space. © 2002 Wiley Periodicals, Inc. [source]

    A Unified Dynamic Model Formulation for Robotic Manipulator Systems

    JOURNAL OF FIELD ROBOTICS (FORMERLY JOURNAL OF ROBOTIC SYSTEMS), Issue 10 2003
    Anjan Kumar Swain
    This paper addresses the problem of the formulation of a unified dynamic model for sundry robotic manipulator systems derived from the first principle of mechanics instead of the existing formulation based on linear separability principle. It provides a systematic derivation, evaluation, and subsequent conceptual interpretation of manipulator dynamics model. Further, it analyzes the generality of the unified model over a wide range of manipulator configurations. In addition, it describes the implementation aspects of the unified model. © 2003 Wiley Periodicals, Inc. [source]

    Vibration and stability control of robotic manipulator systems consisting of a thin-walled beam and a spinning tip rotor

    JOURNAL OF FIELD ROBOTICS (FORMERLY JOURNAL OF ROBOTIC SYSTEMS), Issue 10 2002
    Ohseop Song
    Vibration and stability feedback control of a robotic manipulator modeled as a cantilevered thin-walled beam carrying a spinning rotor at its tip is investigated. The control is achieved via incorporation of adaptive capabilities that are provided by a system of piezoactuators, bonded or embedded into the host structure. Based on converse piezoelectric effect, the piezoactuators produce a localized strain field in response to an applied voltage, and as a result, an adaptive change of vibrational and stability response characteristics is obtained. A feedback control law relating the piezoelectrically induced bending moments at the beam tip with the appropriately selected kinematical response quantities is used, and the beneficial effects of this control methodology upon the closed-loop eigenvibration characteristics and stability boundaries are highlighted. The cantilevered structure modeled as a thin-walled beam, and built from a composite material, encompasses non-classical features, such as anisotropy, transverse shear, and secondary warping, and in this context, a special ply-angle configuration inducing a structural coupling between flapping-lagging and transverse shear is implemented. It is also shown that the directionality property of the material of the host structure used in conjunction with piezoelectric strain actuation capability, yields a dramatic enhancement of both the vibrational and stability behavior of the considered structural system. © 2002 Wiley Periodicals, Inc. [source]