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On the Dynamic Characteristics of a Redesigned Robot

Published online by Cambridge University Press:  09 March 2009

H. S. Park  and
H. S. Cho
H. S. Park
Affiliation:
Manager, Production Engineering R&D Center, Samsung Electronics Co. Ltd., Suwon (South Korea).
H. S. Cho
Affiliation:
Professer, Department of Production Engineering, Korea Advanced Institute of Science and Technology, P.O. Box 150, Cheongryang, Seoul (South Korea)
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Summary

A robotic manipulator is usually a very complicated system whose dynamics is too complicated time consuming for real-time control. The authors propose general criteria for designing an ideal robot whose dynamics is very much simpler than that of the conventional one. In this paper, dynamic characteristics of an ideally designed robot are investigated. The design guidelines were applied to a 6-degree-of-freedom PUMA 560 robot. Based upon the design concept dynamic equations of the redesigned robot were derived. Utilizing these equations, dynamic characteristics of the redesigned robot are investigated with respect to the computation efforts required, variation of the inertia matrix, joint input torque chracteristics, and couplings between the joints. A detailed comparison study is also made between the redesigned and conventional robots.

Keywords

Ideal robotsDesign guidelinesSimplified dynamicsCoupling measure
Type
Article
Information
Robotica , Volume 9 , Issue 1 , January 1991 , pp. 93 - 98
Copyright
Copyright © Cambridge University Press 1991

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