Modeling of controlled motion of semi-passively actuated SCARA-like robot
Report, 2000

The controlled motion of a new structure of manipulator robot is under study. In comparison with the well-known SCARA robot the proposed robotic system has the following new features: in addition to powered drives it comprises several unpowered (passive) spring-damper-like drives. An additional link has also been incorporated into the structure that gives the possibility to obtain a semipassively actuated closed-loop chain robot. Special emphasis is put on a study of the interaction between the controlling stimuli of the powered drives and the torques exerted by the unpowered drives needed to provide the energy-optimal motion of the robot. Computer simulations have demonstrated the numerical efficiency of the developed algorithms and have proved several advantages of the considered semipassively actuated closed-loop robot.

Author

Mathias R Lidberg

Department of Theoretical and applied mechanics, Mechanics

Viktor Berbyuk

Department of Theoretical and applied mechanics, Mechanics

Subject Categories

Other Materials Engineering

Communications from the Division of Mechanics, Chalmers University of Technology, Gothenburg, Sweden: CTH 2000:2

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Latest update

12/1/2021