Manipulability Analysis for Gimbal Driven Robotic Arms

摘要：

Gimbal transmissions are non-linear direct transmissions and can be used in robotic arms replacing the traditional revolute joints. To investigate manipulability of robotic manipulators, the classical criterion of Manipulability Ellipsoid has been formulated. Thus by keeping a constant norm for robot joint torques vector, the effects of replacing some traditional revolute joints in robotic arms with Gimbal transmissions, have been analyzed. The results show that the magnitude of the maximum force applicable when employing Gimbal transmission can be considerably larger. Also, the joint angles in which this maximum occurs, can be adjusted, thanks to the behavior of Gimbal transmission. Two simple robotic arms – a 3R manipulator and Stanford Arm – are selected to investigate the effects of Gimbal transmissions.

作者: Foad Mohammadi Iman Hemmatian Kambiz Ghaemi Osgouie

作者单位: Sharif University of Technology-International Campus in Kish Island,Iran

会议类型: 国际会议

会议名称: 2009 IEEE International Conference on Robotics and Biomimetics(2009 IEEE 机器人与仿生技术国际会议 ROBIO 2009)

会议地点: 桂林

会议语种:英文

页码: 1039-1044

在线出版日期: 2009-12-19（万方平台首次上网日期，不代表论文的发表时间）