On the Design of Zero Reaction Manipulators

[+] Author and Article Information
E. Papadopoulos

Department of Mechanical Engineering and Centre for Intelligent Machines, McGill University, Montreal, PQ H3A 2A7, Canada

A. Abu-Abed

Electrical Distribution and Control Division, General Electric Canada, Mississauga, ON L5N 5P9, Canada

J. Mech. Des 118(3), 372-376 (Sep 01, 1996) (5 pages) doi:10.1115/1.2826895 History: Received June 01, 1994; Revised February 01, 1996; Online December 11, 2007


In a number of industrial, space, or mobile applications, reaction forces and moments transmitted by a manipulator to its base are undesirable. In this paper, we analyze the problem of force and torque transmission in robotic systems, and propose design and planning methods that can eliminate it, or reduce it. Based on force and moment transmission analysis, a three DOF redundant manipulator design is selected. Dynamic reaction forces are eliminated by force balancing. Reaction moments are eliminated by following reactionless paths, whose planning is simplified by rendering the dynamics configuration-invariant. Reactionless Workspaces are defined in which any end-effector path can result in zero dynamic reactions. An example is used to demonstrate the usefulness of the proposed methods. An important advantage of these methods is that the manipulator can be used either as a redundant, or as a reduced DOF reactionless system.

Copyright © 1996 by The American Society of Mechanical Engineers
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