کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
5002409 1368453 2016 6 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
Development of a 5DOF robotic arm (RAVebots-1) applied to heavy products harvesting
موضوعات مرتبط
مهندسی و علوم پایه سایر رشته های مهندسی مکانیک محاسباتی
پیش نمایش صفحه اول مقاله
Development of a 5DOF robotic arm (RAVebots-1) applied to heavy products harvesting
چکیده انگلیسی
Results showed that total torque in Joints number 1, 2, 3, 4 and 5 were 6.15, 257.35, 103.4, 20.2 and 0.1 N. m respectively with a rotational speed range of 15 ~ 60 rpm. Changes in the linkage material and servo motor location improved 29.7% ~ 47.7% and 29.7% ~68.9% of the total required torque for each joint. The maximum distance covered by the arm was 1640 mm from the J2 and 1830 mm from the attachment point. According to the feedback received from a reverse kinematics equation algorithm, the fundamental operation of the robot arm had an optimal performance.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: IFAC-PapersOnLine - Volume 49, Issue 16, 2016, Pages 155-160
نویسندگان
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