Title :
Torque minimisation of the 2-DOF serial manipulators via an adaptive counterweight system
Author :
Arakelian, V. ; Van Rhijn, J. ; Riwan, A.
Author_Institution :
Dept. de Genie Mec. et Autom., Inst. Nat. des Sci. Appl., Rennes, France
Abstract :
This paper deals with the analytically tractable solution for input torques minimisation of two degrees of freedom serial manipulators via optimal dispositions of the counterweights. For this purpose, the torques due to the dynamic loads of the counterweights are presented as a function of the counterweight positions. The conditions for optimal balancing are formulated by minimisation of the root-mean-square value of the input torque including the dynamic loads of the unbalanced manipulator and counterweights. The suggested approach is illustrated by numerical simulations carried out using ADAMS software.
Keywords :
manipulator dynamics; mean square error methods; minimisation; 2-DOF serial manipulators; ADAMS software; adaptive counterweight system; dynamic loads; input torque; numerical simulations; optimal balancing; root-mean-square value; torque minimisation; Actuators; Adaptive systems; Couplings; Manipulator dynamics; Numerical simulation; Potential energy; Robotics and automation; Robots; Springs; Torque; counterweight system; serial manipulator; static balancing; torque minimisation;
Conference_Titel :
Reconfigurable Mechanisms and Robots, 2009. ReMAR 2009. ASME/IFToMM International Conference on
Conference_Location :
London
Print_ISBN :
978-88-89007-37-2
Electronic_ISBN :
978-1-876346-58-4
