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A Generalized Method for Solving a Group of Problems Referring to the Dynamics of Manipulators with an Electromechanical Servo Drive

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On Theory and Practice of Robots and Manipulators

Part of the book series: International Centre for Mechanical Sciences ((CISM,volume 201))

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Summary

To describe the drive configuration, transmission systems and their dynamic parameters, a matrix group is used. This makes it possible to carry out dynamic calculations for manipulators with different drive layout by means of common calculation formulae.

The solution of a group of dynamic problems is given. The displacement of the actuator mechanism, according to the present motion of the control lever, is described. The influence of the system dynamics on the error, when transmitting the clamping action of the terminal device, and on the perception by the operator of the load applied to the actuator mechanism is discussed.

The displacement of the actuator machanism under the action of static loads is also defined.

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References

  1. ARTOBOLEVSKII I.I., KOBRINSKII A.E., Robots (in Russian), Mashinovedenje, 5, 1970, pp. 3–11.

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  2. OVAKIMOV A.G., ANSHIN S.S., The manipulator Jacobi matrix and its application to the détermination of errors of state in statics (in Russian), Mashinovedenje, 2, 1972, pp. 34–39.

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  3. OVAKIMOV A.G., Equations of motion for space gear-lever mechanisms with some degrees of freedom (in Russian), Mashinovedenje, 6, 1970, pp. 28–34.

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Authors and Affiliations

  1. Academy of Sciences of the USSR, Moscow, USSR

    Ivan I. Artobolevskii (Academician)

  2. Moscow Aviation Institute, Moscow, USSR

    Alexander G. Ovakimov (Assistant Professor)

Authors
  1. Ivan I. Artobolevskii
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  2. Alexander G. Ovakimov
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© 1974 Springer-Verlag Wien

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Artobolevskii, I.I., Ovakimov, A.G. (1974). A Generalized Method for Solving a Group of Problems Referring to the Dynamics of Manipulators with an Electromechanical Servo Drive. In: On Theory and Practice of Robots and Manipulators. International Centre for Mechanical Sciences, vol 201. Springer, Vienna. https://doi.org/10.1007/978-3-7091-2993-7_5

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  • DOI: https://doi.org/10.1007/978-3-7091-2993-7_5

  • Publisher Name: Springer, Vienna

  • Print ISBN: 978-3-211-81252-5

  • Online ISBN: 978-3-7091-2993-7

  • eBook Packages: Springer Book Archive

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