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SME MS910333
- Systematic Modeling Of Robot Of Closed Loop Mechanism
- standard by Society of Manufacturing Engineers, 06/01/1991
- Publisher: SME
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THIS PAPER DEVELOPS A SYSTEMATIC MODELING OF A ROBOT WITH CLOSED LOOPS USING SOME USEFUL GUIDELINES. IN FORMING A CLOSED LOOP, MANY PAIRS ARE USED IN REDUNDANCY DUE TO SIMPLE MANUFACTURING AND HIGH STIFFNESS, WHICH IN RETURN GENERATE REDUNDANCY AND PASSIVITY PROBLEMS IN MODELING. THE REDUNDANCY OF A CLOSED LOOP AND MUTUAL RELATIONSHIPS BETWEEN THE KINEMATIC LOWER PAIRS ARE STUDIED FOR PROPER KINEMATIC MODELING OF A ROBOT WITH CLOSED LOOPS. THE ALGORITHM BASED ON THE STUDY PROVIDES A TROUBLE-FREE MODELING OF A ROBOT WITH CLOSED LOOPS AS SHOWN IN THE EXAMPLES.
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