Dynamic modeling of SCARA robot based on Udwadia–Kalaba theory

Dynamic Balancing of the SCARA Robot

This paper deals with the complete shaking force and shaking moment balancing of the four degrees of freedom SCARA robot. Dynamic reaction forces on the frame of the manipulator are eliminated by traditional approach making the total mass center of the moving links stationary. Reaction moments on the frame of the manipulator are eliminated by optimal control of the end-effector, which rotates w...

On the dynamics of SCARA robot

Padhy, S.K., On the dynamics of SCARA robot, Robotics and Autonomous Systems, 10 (1992) 71-78. Assembly automation using robots has proven to be very successful. It has been shown that use of robots improves the accuracy of assembly, and saves assembly time and cost as well. SCARA (Selective Compliance Assembly Robot Arm) type robots have been widely used in industry for assembly operations in ...

translation of collocations from english into persian, based on ghazalas theory

غزالا همایندها را به صورت ترکیبی از دو یا چند واژه که همواره در متون مختلف زبان ها همراه با هم می آیند تعریف می نماید. از دیدگاه او روند رو به رشد میل به ترجمه ی همایندها در مطالعات ترجمه، به دلیل اهمیت آنها در انسجام ساختار زبان است. این پایان نامه اساسا به ترجمه ی همایندها منحصر شده است. هدف آن بررسی کاربرد راهکارهای غزالا در مورد ترجمه ی همایندها از انگلیسی به فارسی است. هدف دیگر آن یافتن پر...

Robust modeling of dynamic environment based on robot embodiment

Kinetostatic calibration of a SCARA robot

In this paper we propose a new algorithm for the kinetostatic calibration of a robot based on contact force measurement. The proposed calibration methodology, called kinetostatic calibration, does not require the use of a sensor to measure the robot pose, avoiding all problems related to the use of external devices for this measurement. On the contrary, the robot gripper must be equipped with a...