920673

SME MS910333

Systematic Modeling Of Robot Of Closed Loop Mechanism

standard by Society of Manufacturing Engineers , 06/01/1991

Lee, Kyeong-Won ; Yoon, Yong-San

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Full Description

THIS PAPER DEVELOPS A SYSTEMATIC MODELING OF A ROBOT WITH CLOSED LOOPS USING SOME USEFUL GUIDELINES. IN FORMING A CLOSED LOOP, MANY PAIRS ARE USED IN REDUNDANCY DUE TO SIMPLE MANUFACTURING AND HIGH STIFFNESS, WHICH IN RETURN GENERATE REDUNDANCY AND PASSIVITY PROBLEMS IN MODELING. THE REDUNDANCY OF A CLOSED LOOP AND MUTUAL RELATIONSHIPS BETWEEN THE KINEMATIC LOWER PAIRS ARE STUDIED FOR PROPER KINEMATIC MODELING OF A ROBOT WITH CLOSED LOOPS. THE ALGORITHM BASED ON THE STUDY PROVIDES A TROUBLE-FREE MODELING OF A ROBOT WITH CLOSED LOOPS AS SHOWN IN THE EXAMPLES.
 

Product Details

Published:
06/01/1991
Number of Pages:
13
File Size:
1 file , 730 KB