کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
804915 905017 2010 15 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
A stiffness matrix approach for the design of statically balanced planar articulated manipulators
موضوعات مرتبط
مهندسی و علوم پایه سایر رشته های مهندسی مهندسی صنعتی و تولید
پیش نمایش صفحه اول مقاله
A stiffness matrix approach for the design of statically balanced planar articulated manipulators
چکیده انگلیسی

A methodology is developed to determine the spring installation for the design of a statically balanced planar articulated manipulator without parallel auxiliary links. The spring installation is characterized by the connectivity of springs among links, the selection of spring constants, and the locations of spring attachment points. The static equilibrium analysis of the spring-loaded planar articulated manipulator is based on the energy approach, formulated by a constant stiffness block matrix and its associated configuration block matrices. The stiffness block matrix quantifies the resistance or assistance of a manipulator to the change of configuration due to the gravitational forces and the elastic spring forces. Such a matrix uniquely represents both the gravitational potential energy and the elastic potential energy of springs of the system at any configuration. By solving the isotropic condition of the stiffness block matrix, all design parameters of springs can be obtained for any given planar articulated manipulator with prescribed dimensions and inertia. Exact solutions for the locations of attachment points are given in detailed in the examples of a spring-loaded one-, two- and three- degrees of freedom articulated manipulators.

ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Mechanism and Machine Theory - Volume 45, Issue 12, December 2010, Pages 1877–1891
نویسندگان
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