Characterization of Acceleration Sets for Spatial Manipulators
نویسنده
چکیده
In this article. rhe approach developed by the authors for systematicallv studving rhe acceleration capabiliry and properties of rhe end effector of a planar manipulator is extended to the general. serial, spatial manipulator possessing three degrees of freedom. The acceleration of the end effector at a given configuration of the manipulator is a linearfunction of the actuator rorques and a (nonlinear) quadratic function of the joint velocities. By decomposing the functional relationships benveen the inputs (actuator toques and joint velocities) and the output (acceleration of the end effector) into nvo fundamental mapp ings-~ linear mapping benveen the actuator toques and the acceleration space of the end effector and a quadratic (nonlinear) mapping benveen the joint velocities and the acceleration space of the end effector-and by deriving the properties of these two mappings, i t is possible to determine the properties of a l l acceleration sets that are the images of the appropriate input sers under rhe two fundamental mappings. A central feature of rhis article is the determination of the properties of the qundraric mapping, which then makes ir possible to obtain analytic expressions for most acceleration properties of interest. We show rhar a fundamental way of studving these quadratic mappings is in t e r n of the mapping of (input) line congruences into (output) line congruences. The article concludes with the application of the analytical results to the computation of the various acceleration properties of an actual spatial manipulator:
منابع مشابه
The Definition, Determination, and Characterization of Acceleration Sets for Spatial Manipulators
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