On the design of serial manipulators with decoupled dynamics

Arakelian, Vigen; Sargsyan, S.F.

doi:10.1016/j.mechatronics.2012.04.001

Cited by 18 publications

(11 citation statements)

References 24 publications

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“…[25][26][27][28][29] Regarding the shaking moment balancing, one can add counter-rotations to make the angular momentum equal to zero. [30][31][32][33][34][35][36] For example, as shown in Fig. 6, one adds two counter-masses to a 2-DOF robotic manipulator to make the center of the mass of the system fixed at the base revolute joint; similarly, as shown in Fig.…”

Section: Add Separate Counter-masses and Counter-rotationsmentioning

confidence: 99%

A Review of Dynamic Balancing for Robotic Mechanisms

Wei¹,

Zhang²

2020

Robotica

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SUMMARY The authors summarize the main dynamic balancing methods of robotic mechanisms in this paper. The majority of dynamic balancing methods have been presented, and there may be other dynamic balancing methods that are not included in this paper. Each of the balancing methods is reviewed and discussed. The advantages and disadvantages of each method are presented and compared. The goal of this paper is to provide an overview of recent research in balancing. The authors hope that this study can provide an informative reference for future research in the direction of dynamic balancing of robotic mechanisms.

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Section: Add Separate Counter-masses and Counter-rotationsmentioning

confidence: 99%

A Review of Dynamic Balancing for Robotic Mechanisms

Wei¹,

Zhang²

2020

Robotica

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“…They can be mentioned by three principal trends: (a) the decoupling of dynamic equations via actuator relocation, i.e. by the kinematic decoupling of motion when the rotation of any link is due to only one actuator [2][3][4][5][6][7][8][9][10] or via decoupling of kinematic chains [11][12][13][14][15]; (b) the decoupling of dynamic equations via optimum inertia redistribution [16][17][18][19][20][21][22][23][24][25][26]; (c) the decoupling of dynamic equations via added links [27][28][29][30]. The modification of the manipulator structure to achieve high-quality dynamic performance is a new promising tendency in the robot design and it is to pursue the development of new robot mechanisms which can be modeled accurately with little difficulty.…”

Section: Introductionmentioning

confidence: 99%

On the Design of the Exoskeleton Arm with Decoupled Dynamics

Arakelian¹,

Aoustin²,

Chevallereau³

2016

New Trends in Medical and Service Robots

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This paper focuses on the design of a 2-DOF exoskeleton arm with decoupled dynamics. The goal is to simplify the controller design by reducing the effects of complicated manipulator dynamics. The added epicyclic gear train allows the optimal redistribution of kinetic energy, which leads to the linearization and decoupling of the dynamic equations. The determination of the parameters of the added links is based on eliminating coefficients of nonlinear terms in the manipulator's kinetic and potential energy equations. The suggested design methodology is illustrated by simulations carried out using the software ADAMS.

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“…Moreover, Coelho et al Coelho, Yong and Alves (2004), Moradi et al Moradi, Nikoobin and Azadi (2010) and Arakelian and Sargsyan Arakelian and Sargsyan (2012) use the adaptive balancing to achieve the decoupling of dynamic equations for openloop kinematic chain mechanisms. Consequently, this action simplifies the control of manipulators because the actuators can be controlled independently.…”

Section: Introduction and Literature Reviewmentioning

confidence: 99%

A new approach for obtaining the dynamic balancing conditions in serial mechanisms

Coutinho

Coelho

2016

IJMRS

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Adaptive balancing means that the mechanical structure of the manipulator is modified in order to achieve the decoupling of dynamic equations. This work deals with a systematic formulation for the adaptive balancing. Basically, two traditional balancing techniques are employed here: the addition of counterweight and counter-rotating disks coupled to the moving links. In addition, the feasibility of the dynamic decoupling for three distinct types of serial manipulators is discussed regarding the achievement of such balancing and the complexity level of the modified mechanical structure. The balancing conditions are developed here for 3-dof spatial and planar open-loop kinematic chain mechanisms, whose topologies are composed of revolute and prismatic joints.

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On the design of serial manipulators with decoupled dynamics

Cited by 18 publications

References 24 publications

A Review of Dynamic Balancing for Robotic Mechanisms

A Review of Dynamic Balancing for Robotic Mechanisms

On the Design of the Exoskeleton Arm with Decoupled Dynamics

A new approach for obtaining the dynamic balancing conditions in serial mechanisms

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