Title :
The optimal balancing of the robotic manipulators
Author :
Mahalingam, Subbiah ; Sharan, Anand M.
Author_Institution :
Memorial University, St. John´´s Canada
Abstract :
In the present work, the static balancing of the forearm of a robot is analyzed; the advantages and disadvantages of using a mass or a spring for the balancing are discussed and their effects on the system natural frequencies are illusrated using numerical examples. The three-dimensional finite element analysis has been used as a mathematical tool for finding the natural frequencies.
Keywords :
Electrical equipment industry; Finite element methods; Frequency; Manipulators; Orbital robotics; Robot control; Robot kinematics; Service robots; Springs; Welding;
Conference_Titel :
Robotics and Automation. Proceedings. 1986 IEEE International Conference on
DOI :
10.1109/ROBOT.1986.1087570
