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TECHNICAL BRIEFS

Micro/Macro or Link-Integrated Micro-actuator Manipulation—A Kinematics and Dynamics Perspective

[+] Author and Article Information
J. Zhang, J. Rastegar

Department of Mechanical Engineering, State University of New York at Stony Brook, Stony Brook, NY 11794-2300

J. Mech. Des 129(10), 1086-1093 (Oct 13, 2006) (8 pages) doi:10.1115/1.2757193 History: Received September 07, 2005; Revised October 13, 2006

Smart (active) materials based actuators, hereinafter called micro-actuators, have been shown to be well suited for the elimination of high harmonics in joint and/or end-effector motions of robot manipulators and in the reduction of actuator dynamic response requirements. Low harmonic joint and end-effector motions, as well as low actuator dynamic response requirements, are essential for a robot manipulator to achieve high operating speed and precision with minimal vibration and control problems. Micro-actuators may be positioned at the end-effector to obtain a micro- and macro-robot manipulation configuration. Alternatively, micro-actuators may be integrated into the structure of the links to vary their kinematics parameters, such as their lengths during the motion. In this paper, the kinematics and dynamics consequences of each of the aforementioned alternative are studied for manipulators with serial and closed-loop chains. It is shown that for robot manipulators constructed with closed-loop chains, the high harmonic components of all joint motions can be eliminated only when micro-actuators are integrated into the structure of the closed-loop chain links. The latter configuration is also shown to have dynamics advantage over micro- and macro-manipulator configuration by reducing the potential vibration and control problems at high operating speeds. The conclusions reached in this study also apply to closed-loop chains of parallel and cooperating robot manipulators.

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Copyright © 2007 by American Society of Mechanical Engineers
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Figures

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Figure 3

The motion at the joint θ3 and its harmonics without the integrated micro-actuators

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Figure 4

The motion at the joint θ4 and its harmonics without the integrated micro-actuators

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Figure 1

A plane 2R robot manipulator with link-integrated micro-actuators

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Figure 2

A plane two-degree-of-freedom robot manipulator with a closed-loop chain

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Figure 5

The required actuating torque τ1 and its harmonics for the robot manipulator without the link-integrated micro-actuators

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Figure 6

The required actuating torque τ2 and its harmonics for the robot manipulator without the link integrated micro-actuators

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Figure 7

The required displacement of the micro-actuator integrated into the link with length l3 and its harmonic content

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Figure 8

The required force for the micro-actuator integrated into the link l3 and its harmonic content

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Figure 9

The required actuating torque τ1 and its harmonics for the robot manipulator with the link-integrated micro-actuators

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Figure 10

The required actuating torque τ2 and its harmonics for the robot manipulator with the link-integrated micro-actuators

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