Light Weight Robot Arms – An overview
نویسندگان
چکیده
Industrial robot – manipulator is an irreplaceable device capable to execute the task of accurate and repeatable positioning of its end effector. In order to achieve this goal system rigidity is very important as well as installed power, capable for fast and reliable manipulation of both: its own weight and payload. Light weight arms, on the other hand, have very complex task. Ratio between self-mass and payload mast be as low as possible along with limited power consumption and satisfied system dynamics. This is accomplished with new design solutions, new mathematical approaches as well as with new control systems. Keywords-component; Lightweight arms, system rigidity, compliance
منابع مشابه
Modeling Flexibility Effects in Robotic Arms Via the Modified 4x4 D-H Homogeneous Transformation
This paper presents a method for the kinematical modeling of robot manipulator arms with flexible members. Development of such techniques are important for the improvement of robotic arms precision performance and their mechanical design. The approach employs the (4X4) Denavit-Hartenberg homogeneous transformations to describe the kinematics of light weight flexible manipulator arms. The method...
متن کاملA Mechatronics Approach to the Design of Light-Weight Arms and Multifingered Hands
The paper describes recent design and development efforts in DLR's robotics lab towards a new generation of ultra-light weight robots with articulated hands. The design of fully sensorized joints with complete state feedback and the underlying mechanisms are outlined. The second light-weight arm generation is available now, as well as the second generation of a worldwide most highly integrated ...
متن کاملLight - weight robots From Scholarpedia
Light-weight robots are robots especially designed for mobility and interaction with a priori unknown environments and with humans. These applications pose the requirements of a light-weight design with high load to weight ratio and high motion velocity (close to the approximately 1:1 ratio of human arms at a tip velocity of 6m/s). Further, they require a modular, integrated mechanical and elec...
متن کاملRobot manipulator technologies for planetary exploration
NASA exploration missions to Mars, initiated by the Mars Pathfinder mission in July 1997, will continue over the next decade. The missions require challenging innovations in robot design and improvements in autonomy to meet ambitious objectives under tight budget and time constraints. The authors are developing design tools, component technologies and capabilities to address these needs for man...
متن کاملFingertip Radius Effect of an on-Surface-Manipulated Object
Cooperative arms are two or more arms in series which assume the structure of a parallel robot on account of gripping an intermediary object, and are commonly used in accurate assembly industries, coaxialization, movement of object, etc. Gripping an intermediary object is one of the complicated subjects in analysis of cooperative arms, whose analysis is mostly dependent upon the manner the obje...
متن کامل