Type Robot Manipulator Research Articles

A component mode synthesis applied to mechanisms for an investigation of vibration

A mathematical model was formulated to predict the modal parameters of a four-bar type robot manipulator at each joint position by using the component mode synthesis method and assuming that the system under consideration is static. Component mode synthesis is a method of connecting system substructures to predict the dynamic behavior of an assembly, based on that of each substructure, and in this paper is applied to the robot which is a typical position-dependent system. The modal data of each component required as the inputs of the synthesis were obtained experimentally in order to provide a realistic model. The modal characteristics calculated by the synthesized model were compared to those obtained by modal tests at various positions of the manipulator. The comparison showed that they pretty well corresponded to each other, and the model, therefore proves to be valid. Thus the approach is one which can be used to estimate the vibrational characteristics of position-dependent systems.

A finite element approach to the design and dynamic analysis of platform type robot manipulators

The design of a closed-loop platform-type robot manipulator using the finite element method is presented. The present approach aims at the optimization of the manipulator geometry and prediction ot the actuator parameters. Beam elements and triangular plate elements are used for the finite element model. Manipulators having six spherical-prismatic-spherical (6 SPS) pairs and of tetrahedron construction have been compared for their dynamic performance.

Adaptive Control For Partially Known MIMO Systems.

In An adaptive control system, parameters of the controlled system are generally estimated assuming that all of the parameters are unknown. In that case, especially in a multi-input multi-output system, parameters increase greatly in number, and it takes substantial time to estimate them. Certain physical elements are often known, and if the information can be used a priori, the number of estimated parameters decreases and the speed of convergence of estimation then becomes faster. In this paper, a priori knowledge of the multi-input multi-output system is classified into three types, and system modeling is done so as to explicitly express a priori information of the controlled system. This method is applied to control a SCARA type robot manipulator. The simulation results show its usefulness.

A robot simulation system based on kinematic analyses

A robot simulation system has been developed to assist in the design of robots, layouts and robot task planning. A general type of robot manipulator can be stimulated taking into consideration the geometrical and kinematical model of the robot. The work cell with multiple robots and its industrial environment is displayed on CRT by a 3-D computer graphic system. Examples and a description of the mathematical algorithm for the kinematic modelling are also included.