The new design of robot arm

Author

Vojtko, I. ; Kocisko, M. ; Janak, M. ; Fecova, V.

Author_Institution

Dept. of Production Technol., Univ. of Kosice, Presov, Slovakia

fYear

2013

Firstpage

53

Lastpage

56

Abstract

A flexible arm that can take ideally any shape in the three dimensions will necessarily consist of many elements that can move concerning each other. In order to control the shape of such a device (motion of the robot) each element needs an actuator and sensors. For basic modelling of this system behaviour we have to know, measure or suppose behaviour of basic parts of flexible arm. Because the pneumatic spring is a basic part (except servodrives and control) its mathematical model has been created for further using in control and regulation theory. After mathematical describing of pneumatic spring the block diagram has been created. Deduced model of pneumatic spring has been simulated by computer and confronted with physical experimental modelling in laboratory.

Keywords

actuators; dexterous manipulators; flexible manipulators; manipulator dynamics; motion control; pneumatic systems; sensors; springs (mechanical); actuator; arm dimension; block diagram; control theory; flexible arm; pneumatic spring; regulation theory; robot arm design; robot motion control; sensor; servodrives; shape control; system behaviour modeling; Computational modeling; Manipulators; Mathematical model; Pneumatic systems; Robot sensing systems; Springs;

fLanguage

English

Publisher

ieee

Conference_Titel

Applied Machine Intelligence and Informatics (SAMI), 2013 IEEE 11th International Symposium on

Conference_Location

Herl´any

Print_ISBN

978-1-4673-5928-3

Electronic_ISBN

978-1-4673-5927-6

Type

conf

DOI

10.1109/SAMI.2013.6480943

Filename

6480943