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Research Papers: Mechanisms and Robotics

Dynamic Performance and Modular Design of Redundant Macro-/Minimanipulators

[+] Author and Article Information
Alan P. Bowling

Robotics and Dynamic Systems Laboratory, Department of Aerospace and Mechanical Engineering, University of Notre Dame, Notre Dame, IN 46556abowling@nd.edu

Oussama Khatib

Robotics Laboratory, Department of Computer Science, Stanford University, Stanford, CA 94305khatib@cs.stanford.edu

J. Mech. Des. 130(9), 092301 (Aug 08, 2008) (11 pages) doi:10.1115/1.2936892 History: Received November 24, 2007; Revised April 18, 2008; Published August 08, 2008

This paper presents methodologies for the analysis and design of redundant manipulators, especially macro-/ministructures, for improved dynamic performance. Herein, the dynamic performance of a redundant manipulator is characterized by the end-effector inertial and acceleration properties. The belted inertia ellipsoid is used to characterize inertial properties, and the recently developed dynamic capability equations are used to analyze acceleration capability. The approach followed here is to design the ministructure to achieve the task performance and then to design the macrostructure to support and complement the ministructure, referred to here as modular design. The methodology is illustrated in the design of a six-degree-of-freedom planar manipulator.

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Copyright © 2008 by American Society of Mechanical Engineers
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Figures

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Figure 1

Macro- and minimanipulators

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Figure 2

Torque vector component in the direction of Υupper1

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Figure 3

Dynamic performance of initial design. (a) End-effector DCC; The intercepts of J* curve are {2.6m∕s2, 177rad∕s2}. (b) Null space DCC; the intercepts are {2.9m∕s2, 78rad∕s2}. (c) Mini DCC; the intercepts are {9.3m∕s2, 175rad∕s2}.

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Figure 4

Belted ellipsoid

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Figure 5

6 DOF manipulator configurations

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Figure 6

Macro response to mini manipulator reaction forces. The intercepts for this curve are {10.2m∕s2, 182rad∕s2}.

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Figure 7

Macromanipulator acceleration capability DCC. The intercepts for this curve are {21m∕s2, 754rad∕s2}.

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Figure 8

Dynamic performance for configuration {1}; final design. (a) End-effector DCC; the intercepts for J* curve are {9.14m∕s2, 188rad∕s2}. (b) Null space DCC; the intercepts are {17.5m∕s2, 682rad∕s2}. (c) Overall versus mini mass belted ellipsoid; the mini and macro effective masses are represented by dashed and solid lines.

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Figure 9

Dynamic performance for configuration {2}. (a) Mini DCC; the intercepts are {5.6m∕s2, 79rad∕s2}. (b) End-effector DCC; the intercepts for J* curve are {5.6m∕s2, 112rad∕s2}. (c) Overall versus mini mass belted ellipsoid (they are almost identical but the overall properties are slightly smaller).

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Figure 10

Dynamic performance for configuration {3}. (a) Mini DCC; the intercepts are {3.5m∕s2, 69rad∕s2}. (b) End-effector DCC; intercepts for J* curve are {3.5m∕s2. 69rad∕s2}. (c) Overall versus mini mass belted ellipsoid; the mini properties are larger.

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