Hostname: page-component-cd9895bd7-jn8rn Total loading time: 0 Render date: 2024-12-28T07:43:28.193Z Has data issue: false hasContentIssue false
  • English
  • Français

Dynamic behaviour of a SCARA robot with links subjected to different velocity trajectories

Published online by Cambridge University Press:  09 March 2009

M. Y. Ibrahim ,
C. Cook  and
K. Tieu
M. Y. Ibrahim
Affiliation:
School of Engineering, GIAE, Churchill, Vic. 3842 (Australia).
C. Cook
Affiliation:
Automation & Engineering Application Centre (AEAC), N.S.W., (Australia).
K. Tieu
Affiliation:
Dept. of Mech. Eng. Uni. of Wollongong (Australia).
Get access Rights & Permissions [Opens in a new window]

Summary

The dynamics of a mechanical manipulator have the inherent characteristics of being highly non-linear and strongly coupled due to the interaction of the inertial, centripetal, coriolis and gravitational forces.

These characteristics produce difficulties in predicting the dynamic behaviour of a given manipulator's structure. These interactive forces depend largely on the geometrical configuration and operational conditions of a manipulator. Therefore, it is essential to investigate the dynamics behaviour under different conditions in order to obtain an optimal design.

This paper presents a study of the dynamics behaviour of a robot's arm with particular reference to the mechanical manipulator being designed by the AEAC. A computer software package has been developed to facilitate the investigation of the potential dynamics behaviour of a robot's arm and provides the designer with useful information for the real time control of high performance robots. This package also enables the designer to closely monitor the implications of his design.

The software of this package is based on the Lagrangian model, taking advantage of the recursive formulation. A brief description of the types of velocity trajectories used in this study is also included in this paper.

The software for the modelling was written in FORTRAN 77 in single precision and run on a UNIVAC operating system.

Keywords

SCARA RobotDynamicsVelocitiesLinksPrediction
Type
Research Article
Information
Robotica , Volume 6 , Issue 2 , April 1988 , pp. 115 - 121
Copyright
Copyright © Cambridge University Press 1988

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.Denavit, J. and Hartenberg, R.S., “A Kinematic Notation for Lower-Pair Mechanisms based on Matrices”, J. Applied Mechanics 215–221 (1955).CrossRefGoogle Scholar
2.Paul, R.P., Shimano, B. and Mayer, G.E., “Kinematic Control Equations for Simple Manipulator” IEEE Transactions on Systems, Man and Cybernetics SMC-11, No. 6, 449–455 (06, 1981).Google Scholar
3.Lee, C.S.G., “Robot Arm Kinematics” In: Tutorial on Robotics (IEEE Computer Society, New York, 1984) pp. 47–65.Google Scholar
4.Mujtoba, M.S., “Discussion of Trajectory Calculation Methods” In: Exploratory Study of Computer Integrated Assembly Systems (Binford, T.O. et al, Stanford University, Artificial Intelligence Laboratory, AIM 285.4, 1977).Google Scholar
5.Brady, M., “Trajectory Planning” In: Robot Motion: Planning and Control (MIT press, Cambridge, Massachusetts) pp. 221 ff.Google Scholar
6.Makino, H. and Furuya, N., “Selective Compliance Assembly Robot Arm”, Proc. of the First International Conference on Assembly Automation, Brighton (03 1980).Google Scholar
7.Paul, R.P., Robot Manipulators: Mathematics, Programming and Control (MIT Press, Cambridge, Mass., 1981).Google Scholar
8.Waters, R.C., “Mathematical arm Control” MIT Artificial Intelligence Lab. Memo. 549 (10, 1979).Google Scholar
9.Hollerbach, J.M., “A Recursive Formulation of Lagrangian Manipulator Dynamics” Proc. IEEE Conf. Decision and Control. TP10-B (1980).CrossRefGoogle Scholar
10.Lee, C.S.G., “Robot Arm Dynamics” In: Tutorial on Robotics (IEEE Computer Society Press, New York, 1984) pp. 93–102.Google Scholar