مرکز منطقه ای اطلاع رساني علوم و فناوري -

چكيده لاتين :

A systematic and comprehensive analytical study, addressing a range of issues on the dynamic performance of robot manipulators, was conducted in this paper. The robot chosen for this investigation is a PUMA 560 robot manipulator.Closed-form dynamic models as well as the kinematic model of the PUMA 560 were developed and employed to facilitate the analysis of a robotיs dynamic performance. Then investigation was conducted on the effect of link counter-balancing on the dynamic performance of an articulated robot.The investigation was conducted by comparing the robotיs dynamic performance with and without counter-balancing masses in order to visualize the extent of the effect of counter-balancing. Finally to evaluate the performance of the proposed method simulation test is carried out.