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An investigation on the effective mass of the robot: dependence on the end-effector position

Wybrane pełne teksty z tego czasopisma
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Warianty tytułu
Języki publikacji
EN
Abstrakty
EN
In this paper, the mathematical analysis of the robot effective mass is presented. The calculation of this effective mass and its ellipsoid are included. The relationship between the robot effective mass and the external force (collision) affecting the robot end-effector is investigated. The effective mass is analyzed using different robot configurations and different end-effector positions. This analysis is conducted using 2-DOF and 3-DOF planar robots and executed using MATLAB. The results from this analysis prove that the robot effective mass depends on the its configurations and end-effector position. Effective mass can thus be considered as one of the criteria in optimizing robot kinematics and configuration.
Rocznik
Strony
293--313
Opis fizyczny
Bibliogr. 14 poz., rys., tab., wykr.
Twórcy
  • Mechatronics Engineering, Mechanical Engineering Department Faculty of Engineering, South Valley University Qena, 83523, Egypt
Bibliografia
  • 1. Khatib O., Inertial properties in robotic manipulation: an object-level framework, The International Journal of Robotics Research, 14(1): 19–36, 1995, doi: 10.1177/ 027836499501400103.
  • 2. Lee S.-D., Kim B.-S., Song J.-B., Human-robot collision model with effective mass and manipulability for design of a spatial manipulator, Advanced Robotics, 27(3): 189– 198, 2013, doi: 10.1080/01691864.2012.754076.
  • 3. Chen G., Liu D., Wang Y., Jia Q., Liu X., Contact force minimization for space flexible manipulators based on effective mass, Journal of Guidance, Control, and Dynamics, 42(8): 1870–1877, 2019, doi: 10.2514/1.G003987.
  • 4. Mavrakis N., Ghalamzan E.A.M., Stolkin R., Safe robotic grasping: Minimum impact-force grasp selection, [in:] IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 4034–4041, 2017, doi: 10.1109/IROS.2017.8206258.
  • 5. Lämmle A., Development of a new mechanic safety coupling for human robot collaboration using magnetorheological fluids, Procedia CIRP, 81: 908–913, 2019, doi: 10.1016/j.procir.2019.03.226.
  • 6. Shin H., Kim S., Seo K., Rhim S., A virtual pressure and force sensor for safety evaluation in collaboration robot application, Sensors (Basel), 19(19): 1–11, 2019, doi: 10.3390/s19194328.
  • 7. Vemula B., Matthias B., Ahmad A., A design metric for safety assessment of industrial robot design suitable for power- and force-limited collaborative operation, International Journal of Intelligent Robotics and Applications, 2(2): 226–234, 2018, doi: 10.1007/s41315-018-0055-9.
  • 8. Hunt K.H., Crossley F.R.E., Coefficient of restitution interpreted as damping in vibroimpact, Journal of Applied Mechanics, 42(2): 440–445, 1975, doi: 10.1115/1.3423596.
  • 9. Povse B., Koritnik D., Bajd T., Munih M., Correlation between impact-energy density and pain intensity during robot-man collision, [in:] 2010 3rd IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics, pp. 179–183, 2010, doi: 10.1109/BIOROB.2010.5626073.
  • 10. Lee S.-D., Song J.-B., Guideline for determination of link mass of a robot arm for collision safety, [in:] 8th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI), pp. 383–385, 2011, doi: 10.1109/URAI.2011.6145847.
  • 11. Murray R.M., Li Z., Sastry S.S., A Mathematical Introduction to Robotic Manipulation, CRC Press, 1994.
  • 12. Sharkawy A.-N., Koustoumpardis P.N., Dynamics and computed-torque control of a 2-DOF manipulator: Mathematical analysis, International Journal of Advanced Science and Technology, 28(12): 201–212, 2019
  • 13. KUKA Roboter GmbH, Lightweight Robot 4+, Specification, D-86165 Augsburg, Germany, 2010.
  • 14. Van Nguyen T., Dumitriu D.N., Stroe I., Controlling the motion of a planar 3-DOF manipulator using PID controllers, INCAS Bulletin, 9(4): 91–99, 2017, doi: 10.13111/2066- 8201.2017.9.4.8.
Typ dokumentu
Bibliografia
Identyfikator YADDA
bwmeta1.element.baztech-41ca4468-3912-4c12-a840-9437040a3c82
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