DYNAMIC EFFECTS DUE TO JOINT COMPLIANCE IN CARTESIAN ROBOTS

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RASTGOU A.

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Paper Information

Journal: MODARES TECHNICAL AND ENGINEERING Year:2002 | Volume:- | Issue:6 Page(s): 11-18

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Information Journal Paper

Title

DYNAMIC EFFECTS DUE TO JOINT COMPLIANCE IN CARTESIAN ROBOTS

Author(s)

RASTGOU A. | Issue Writer Certificate

Keywords

CARTESIAN ROBOTSQ4

JOINT COMPLIANCEQ4

DYNAMIC EFFECTSQ4

Abstract

Joint compliance in Robots structure causes less accuracy and lower efficiency. For higher accuracy and high speed operation the compliance should be limited in a way to be compatible with dynamic forces. In this paper the vibrations of robots structure have been studied based on two assumptions.(a): The whole structure compliance is considered to be located at the joints.(b): A continuous path of robot has been already studied and the displacements as well as velocities increments are given in small values.The model has eight degree of freedom. The kinetic and potential energy equations have been used along with variational method. The equations of motion are obtained by using Lagrange's equations. These equations are non-linear and coupled. An example of the results has been discussed.

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APA: Copy

RASTGOU, A.. (2002). DYNAMIC EFFECTS DUE TO JOINT COMPLIANCE IN CARTESIAN ROBOTS. MODARES TECHNICAL AND ENGINEERING, -(6), 11-18. SID. https://sid.ir/paper/25080/en

Vancouver: Copy

RASTGOU A.. DYNAMIC EFFECTS DUE TO JOINT COMPLIANCE IN CARTESIAN ROBOTS. MODARES TECHNICAL AND ENGINEERING[Internet]. 2002;-(6):11-18. Available from: https://sid.ir/paper/25080/en

IEEE: Copy

A. RASTGOU, “DYNAMIC EFFECTS DUE TO JOINT COMPLIANCE IN CARTESIAN ROBOTS,” MODARES TECHNICAL AND ENGINEERING, vol. -, no. 6, pp. 11–18, 2002, [Online]. Available: https://sid.ir/paper/25080/en

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