To design and precisely control a manipulator requires a representative dynamic model of the system. This paper presents the derivation of a rigid-link model for the serial manipulator, which reduces all of the arm’s dynamic properties to their effective values at the generalized inputs. The component terms of the model are readily calculated from the dynamic influence coefficients, which are based only on the geometry of the system. All necessary influence coefficients for serial manipulators are given in a particularly simple form. The model formulation keeps the system parameters and the input dynamics explicit in the controlling equations of motion, such that analysis and dynamic response results can be obtained in the most direct manner. Dynamic analysis results for an industrial manipulator are presented.
Robotic manipulators provide general, programmable motion paths and force functions to carry out processes of a high level of dexterity and flexibility. These systems are characterized by several degrees of freedom of controllable motion. As a consequence the resulting mechanical structure contains a very large number of design values including geometric, mass, compliance, strength, and prime mover parameters [1]. The analysis on which to base the design methods involves the multivariable mathematical relations between these design parameters and the manipulator’s force and motion states which are extraordinarily complex, nonlinear, and highly coupled. Computer-aided procedures for systems of this class become an imperative in order to establish the dynamic formulation, select rational design specifications, and to evaluate the system’s operating characteristics both locally and globally. This paper suggests some applications of optimization techniques to augment the existing analysis formulation in the literature and to create a more powerful foundation for the design of manipulator structures. This enhanced computational capability is based on position-dependent kinematic and modeling coefficients [6] which explicitly demonstrate the role of significant physical parameters in the design process. Specific examples dealing with optimal distribution of actuator load capacity are given in the paper which improves the system’s load capacity or enhances its speed and acceleration capability within the local neighborhood of a given configuration of the manipulator.
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