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Statically balanced direct drive manipulator

Published online by Cambridge University Press:  09 March 2009

H. Kazerooni
H. Kazerooni
Affiliation:
Mechanical Engineering Department, University of Minnesota, 111 Church Street S.E. Minneapolis, MN 55455 (USA)
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Summary

A practical architecture, using a four-bar-linkage, is considered for the University of Minnesota direct drive rotot. This statically-balanced direct drive robot has been constructed for stability analysis of the robot in constrained maneuvers.2–6 As a result of the elimination of the gravity forces (without any counter weights), smaller actuators and consequently smaller amplifiers were chosen. The motors yield acceleration of 5 g at the robot end point without overheating. High torque, low speed, brush-less AC synchronous motors are used to power the robot. Graphite-epoxy composite material is used for the construction of the robot links. A 4-node parallel processor has been used to control the robot. The dynamic tracking accuracy-with the feedforward torque method as a control law- has been derived experimentally.

Keywords

Direct driveRobotStatically balancedTracking accuracyLinkage.
Type
Research Article
Information
Robotica , Volume 7 , Issue 2 , April 1989 , pp. 143 - 149
Copyright
Copyright © Cambridge University Press 1989

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