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Kinetostatics of a serial robot in screw form

التفاصيل البيبلوغرافية
العنوان: Kinetostatics of a serial robot in screw form
المؤلفون: Jing-Shan Zhao, Han-Lin Sun
المصدر: Advances in Mechanical Engineering, Vol 15 (2023)
بيانات النشر: SAGE Publishing, 2023.
سنة النشر: 2023
المجموعة: LCC:Mechanical engineering and machinery
مصطلحات موضوعية: Mechanical engineering and machinery, TJ1-1570
الوصف: Kinetostatics of a robot is an essential component of robotic analysis that includes actuation distribution and torque control. The extant methods mainly include the static transfer formulae and force Jacobian matrix algorithms based on the Denavit-Hartenberg (D-H) method. They can calculate the joint driving torque, but there are some limitations. This paper proposes a kinetostatics approach for analyzing the driving torque of serial manipulators. The instantaneous work done by the external load is expressed with reciprocal screw. It is the key idea of the approach to derive the kinetostatics equation in screw form and determine the required torque at each joint. This methodology is straightforward for programming. Through kinetostatic analysis of some typical serial manipulators, this paper shows the process of establishing the kinetostatics of every joint to calculate the torque in Plücker coordinates. The general spatial manipulator was analyzed and the solution demonstrates the universality of the method presented in this paper. In addition, the kinetostatic analysis method applies to all kinds of serial manipulators.
نوع الوثيقة: article
وصف الملف: electronic resource
اللغة: English
تدمد: 1687-8140
16878132
Relation: https://doaj.org/toc/1687-8140
DOI: 10.1177/16878132231180794
URL الوصول: https://doaj.org/article/26f2795341bc450b9abef65cdb497127
رقم الأكسشن: edsdoj.26f2795341bc450b9abef65cdb497127
قاعدة البيانات: Directory of Open Access Journals
الوصف
تدمد:16878140
16878132
DOI:10.1177/16878132231180794