Title :
Experimental verification of modeling of DELTA robot dynamics by direct application of Hamilton´s principle
Author_Institution :
Inst. of Aeronaut. & Appl. Mech., Warsaw Univ. of Technol., Poland
Abstract :
This contribution presents the experimental verification of the newly developed Hamilton-based dynamic model of DELTA direct drive parallel robot by measurements of DELTA robot´s motor torques. The strain gage technology was applied. The experiment is in author´s opinion the first ever for robot DELTA. The experimental results validate the modelling of robot DELTA as a system of rigid bodies, connected by frictionless joints. The results obtained from the model based on the direct application of Hamilton´s principle in extended space, taking into account the differences between real and desired accelerations, agreed with measurements to at least 5%. The motor torque measuring system may be in future used in force control of DELTA robot
Keywords :
robot dynamics; strain gauges; strain measurement; torque measurement; DELTA direct drive parallel robot; DELTA robot dynamics modeling; Hamilton´s principle; experimental verification; force control; frictionless joints; motor torque measuring system; motor torques; strain gage; Acceleration; Aerodynamics; Manipulator dynamics; Orbital robotics; Parallel robots; Robot control; Robotics and automation; Space technology; Torque control; Torque measurement;
Conference_Titel :
Robotics and Automation, 1995. Proceedings., 1995 IEEE International Conference on
Conference_Location :
Nagoya
Print_ISBN :
0-7803-1965-6
DOI :
10.1109/ROBOT.1995.525338
