Acceleration Sets of Planar Manipulators. Part 2. Applications and Experiments

Abstract

The acceleration set theory developed in the companion report is applied to two important problems which arise in the design of manipulator systems for performance: manipulator type selection and actuator size determination. A systematic procedure is given for the comparison of the performance, based on acceleration, of a set of alternative manipulator types. This procedure is then used to compare the performance of three well-known manipulator designs which have been proposed for high performance. Simple algorithms, based on the acceleration set theory, are given for the determination of the minimum actuator sizes to obtain a specific isotropic acceleration. The ease of implementation of these algorithms is demonstrated by actual examples. The experimental determination of acceleration sets is also addressed and simple experimental results are presented and compared with those predicted by the theory.

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Document Details

Document Type
Technical Report
Publication Date
Jul 01, 1989
Accession Number
ADA213336

Entities

People

  • Subhas Desa
  • Yong-yil Kim

Organizations

  • Carnegie Mellon University

Tags

Communities of Interest

  • Air Platforms

DTIC Thesaurus Topics

  • Abstracts
  • Actuators
  • Algorithms
  • Classification
  • Collision Avoidance
  • Computers
  • Control
  • Equations
  • Equations Of Motion
  • Host Computers
  • Iterations
  • Manipulators
  • Mechanical Components
  • Mechanical Engineering
  • Mechanical Structure
  • Set Theory
  • Task Performance And Analysis

Readers

  • Calculus or Mathematical Analysis
  • Computational Modeling and Simulation
  • Robotics and Automation.