Paper Info
Title
Statically balanced direct drive manipulator.
Abstract
A practical architecture, using a four-bar-linkage, is cgnsidered for the University of Minnesota direct drive robot (8). This statically- balanced direct drive robot has been constructed for stability analysis of the robot in constrained manipulation (5 -7). As a result of the elimination of the gravity forces (without any counter weights), smaller actuators and consequently smaller amplifiers were chosen. The motors yield acceleration of 5g at the end point without overheating. High torque, low speed, brush-less AC synchronous motors are used to power the robot. Graphite-epoxy composite material is used for the construction of the robot links. A 4-node parallel processor has been used to control the robot. The dynamic tracking accuracy -with the feedforward torque method as a control law- has been derived experimentally.
Year
DOI
Venue
1989
10.1017/S0263574700005452
ROBOTICA
DocType
Volume
Issue
Journal
7
2
ISSN
Citations 
PageRank 
0263-5747
3
2.75
References 
Authors
3
2
Name
Order
Citations
PageRank
H. Kazerooni1766314.26
S. Kim232.75