Design and modeling of classes of spatial reactionless manipulators
نویسندگان
چکیده
For conventional designs of robots, manipulator motions result in forces and moments on the base. These forces and moments may cause undesirable translation and rotation of the base. The objective of this paper is to systematically analyze the fundamentals of reactionless robots. Based on this analysis, designs of two distinct classes of spatial robots are proposed. The designs are achieved through appropriate choices of geometric and inertial parameters. Due to the underlying conservation laws, the trajectory must satisfy additional constraints. We illustrate the reactionless feature of these robots through computer simulations. Currently, we are fabricating reactionless robots to illustrate the underlying concepts.
منابع مشابه
Synthesis of Reactionless Spatial 3-DoF and 6-DoF Mechanisms without Separate Counter-Rotations
In this paper we present the synthesis of novel reactionless spatial three-degrees-of-freedom (3-DoF) and 6-DoF mechanisms without any separate counter-rotation, using four-bar linkages. Based on the conditions of dynamic balancing of a single planar four-bar linkage developed elsewhere, the spatial problem is shown to be equivalent to ensuring that the inertia tensor of reactionless four-bar l...
متن کاملOn the Development of Reactionless Spatial 3-dof Parallelepiped Mechanisms
In this paper, the design and dynamic balancing of a novel 3DOF parallel mechanism referred to as parallelepiped mechanism are addressed. Two types of actuation schemes of the mechanism are considered. The balancing equations are derived by imposing that the center of mass of the mechanism is fixed and that the total angular momentum is constant with respect to a fixed point. Optimization is pe...
متن کاملTrajectory Optimization of Cable Parallel Manipulators in Point-to-Point Motion
Planning robot trajectory is a complex task that plays a significant role in design and application of robots in task space. The problem is formulated as a trajectory optimization problem which is fundamentally a constrained nonlinear optimization problem. Open-loop optimal control method is proposed as an approach for trajectory optimization of cable parallel manipulator for a given two-end-po...
متن کاملDynamics of Space Free-Flying Robots with Flexible Appendages
A Space Free-Flying Robot (SFFR) includes an actuated base equipped with one or more manipulators to perform on-orbit missions. Distinct from fixed-based manipulators, the spacecraft (base) of a SFFR responds to dynamic reaction forces due to manipulator motions. In order to control such a system, it is essential to consider the dynamic coupling between the manipulators and the base. Explicit d...
متن کاملOn the design of reactionless 3-DOF planar parallel mechanisms
A reactionless machine will not apply reaction forces and moments on the mounting base during motion. This article presents the theory for design of a reactionless planar parallel mechanism. The salient features of this design are: (i) it uses auxiliary parallelograms to locate the center of mass of each leg at the base, (ii) choice of geometric and inertial parameters to satisfy the reactionle...
متن کامل