Hostname: page-component-cd9895bd7-dzt6s Total loading time: 0 Render date: 2024-12-23T11:45:09.815Z Has data issue: false hasContentIssue false
  • English
  • Français

Conceptual design and dynamics modeling of a cooperative dual-arm cam-lock manipulator

Published online by Cambridge University Press:  09 March 2009

Ali Meghdari
Ali Meghdari
Affiliation:
Sharif University of Technology, Department of Mechanical Engineering, Robotics Research Laboratory, Tehran (I.R. Iran)
Get access Rights & Permissions [Opens in a new window]

Summary

This paper presents the conceptual designs, kinematics and dynamics modeling of a cooperative re-configurable Dual-Arm Cam-Lock Manipulator. A cam-lock manipulator is a robotics structure with a pair of multi-degree of freedom planar arms jointed together at a shared base. This manipulator is designed to be capable of performing a wide variety of tasks by automatically re-configuring itself to form a variable geometry, stiffness, damping, and workspace robotics structure by the virtue of a novel link/joint design along i''s arms, labeled as the cam-lock design. The kinematics and dynamics of this manipulator is described using admissible variables (i.e., variables that define the constrained admissible motion). Along with the dynamic relations of this manipulator, a generic equation was also developed for the joint servo system.

Keywords

Dual-arm cam-lock manipulatorDynamic modelingDesignGeneric equation
Type
Article
Information
Robotica , Volume 14 , Issue 3 , May 1996 , pp. 301 - 309
Copyright
Copyright © Cambridge University Press 1996

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

1.Meghdari, A., “Conceptual Design and Characteristics of a Dual-Arm Cam-Lock Manipulator” Proc. of the ASCE SPACE-94 Int. Conf. on Robotics for Challenging Environments,Albuquerque, N.M., USA(Feb., 1994) pp. 140–148.Google Scholar
2.Meghdari, A., “The Cooperative Dual-Arm Cam-Lock Manipulators” Proc. of the 1994 IEEE Int. Conf. on Robotics & Automation,San Diego, CA., U.S. Patent Pending, U.C. Pat. #93–353–1,Nov. 9, 1993 (05, 1994) Vol. 2, pp. 1279–1285.Google Scholar
3.Wada, B.K., Fanson, J.L., and Crawley, E.F., “Adaptive Structures” Proc. of the 1989 ASME-WAM,USA(Dec. 1989) AD-Vol. 15, pp. 1–8.Google Scholar
4.Miura, K., “Studies of Intelligent Adaptive Structures”, Proc. of the 1989 ASME-WAM,USA(Dec, 1989) AD Vol. 15, pp. 89–94.CrossRefGoogle Scholar
5.Koivo, A.J., and Bekey, G.A., “Reports of Workshop on Coordinated Multiple Robot Manipulators: Planning, Control, and Application”, IEEE J Robotics & Automation 4, No. 1, 91–93 (02, 1988).Google Scholar
6.Tao, J.M., and Luh, J.Y.S., “Coordination of Two Redundant Robots” Proc. of the IEEE Int. Conf. on Robotics & AutomationUSA (1989) pp. 425–430.Google Scholar
7.Lee, S., and Kim, S., “A Self-Re configurable Dual-Arm System” Proc. of the IEEE Int. Conf. on Robotics & AutomationUSA(April, 1991) pp. 164–169.Google Scholar
8.Mandelbrot, B.B.. The Fractal Geometry of Nature (W.H. Freeman and Company, New York, 3rd Edition, 1983).CrossRefGoogle Scholar
9.Vukobratovic, M., and Potkonjak, V., Applied Dynamics and CAD of Manipulation Robots (Springer-Verlag Pub. Co., New York, 1985).Google Scholar
10.Shahinpoor, M., Intelligent Robotics Systems (ERI Press, Albuquerque, N.M., 1994).Google Scholar
11.Craig, J.J., Introduction to Robotics; Mechanics and Control, 2nd Edition, (Addison Wesley Pub. Co., New York, 1989).Google Scholar
12. Electro-Craft Corporation, DC Motors, Speed Controls. Servo Systems, 5th ed. (Hopkins, Minn.: Electro-Craft Corporation, 07 1980).Google Scholar