Design and modeling of classes of spatial reactionless manipulators

Author

Fattah, Abbas ; Agrawal, Sunil K.

Author_Institution

Dept. of Mech. Eng., Delaware Univ., Newark, DE, USA

Volume

3

fYear

2003

fDate

14-19 Sept. 2003

Firstpage

3225

Abstract

For conventional designs of robots, manipulator motions result in forces and moments on the base. These forces and moments may cause undesirable translation and rotation of the base. The objective of this paper is to systematically analyze the fundamentals of reactionless robots. Based on this analysis, designs of two distinct classes of spatial robots are proposed. The designs are achieved through appropriate choices of geometric and inertial parameters. Due to the underlying conservation laws, the trajectory must satisfy additional constraints. We illustrate the reactionless feature of these robots through computer simulations. Currently, we are fabricating reactionless robots to illustrate the underlying concepts.

Keywords

manipulator dynamics; path planning; position control; computer simulation; conservation laws; geometric parameters; inertial parameters; manipulator motions; rotational motion; spatial reactionless manipulators design; spatial robots; translational motion; Computer simulation; Couplings; Equations; Gravity; Laboratories; Manipulator dynamics; Mechanical engineering; Mechanical systems; Robots; Sufficient conditions;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2003. Proceedings. ICRA '03. IEEE International Conference on

ISSN

1050-4729

Print_ISBN

0-7803-7736-2

Type

conf

DOI

10.1109/ROBOT.2003.1242087

Filename

1242087