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Dynamic Effects of Active Elements in Manipulators and their Influence upon the Controlling Drives

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Dynamics of Multibody Systems

Part of the book series: IUTAM Symposium ((IUTAM))

Summary

Approximate equations of motion for tree-structured robots and manipulators can be obtained by neglecting relative rotational inertia effects of the active elements(motors) that drive the links of the system. Starting from these equations the Gibbs-Appell(GA)-calculus is used in this paper in order to determine generalized mass matrices and gyroscopic forces that take care of the dynamics of the active elements in the system.

Additional terms have then to be added to the original equations of motion without further changes. It is shown how the GA-function of a robot is modified when the links are considered as gyrostats carrying axissymmetric rotors. For a three-link RRR-manipulator an example is carried out that studies various effects upon the controlling drives of a robot.

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References

  1. Desoyer,K,; Kopacek,P,; Troch,I., Industrieroboter und Handhabungsgeräte. R.Oldenbourg Verlag München,Wien, 1985.,(pp.118–129).

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  4. Pars,L.A., A Treatise on Analytical Dynamics. London, Heinemann Edition, 1965,(pp. 201–227 ).

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  5. Fischer,U.; Stephan,W., Prinzipien und Methoden der Dynamik. Leipzig, VEB-Verlag, 1972,(pp. 78–79 ).

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  6. Schwertassek,R,; Roberson,R.E.; Schiehlen,W.O.; Wittenburg,J., Multibody System Dynamics-Computer Aided Generation of System Equations and Simulation. CCG-COURSE V1.07, Oberpfaffenhofen 1984.

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Author information

Authors and Affiliations

  1. Department of Mechanical Engineering, Technical University of Vienna, Austria

    K. Desoyer, P. Lugner & H. Springer

Authors
  1. K. Desoyer
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  2. P. Lugner
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  3. H. Springer
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Editor information

Editors and Affiliations

  1. International Centre for Mechanical Sciences, Palazzo del Torso, Piazza Garibaldi 18, I-33100, Udine, Italy

    Giovanni Bianchi

  2. Institut B für Mechanik, Universität Stuttgart, Pfaffenwaldring 9, D-7000, Stuttgart 80, Germany

    Werner Schiehlen

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© 1986 Springer, Berlin Heidelberg

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Desoyer, K., Lugner, P., Springer, H. (1986). Dynamic Effects of Active Elements in Manipulators and their Influence upon the Controlling Drives. In: Bianchi, G., Schiehlen, W. (eds) Dynamics of Multibody Systems. IUTAM Symposium. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-82755-6_4

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  • DOI: https://doi.org/10.1007/978-3-642-82755-6_4

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-82757-0

  • Online ISBN: 978-3-642-82755-6

  • eBook Packages: Springer Book Archive

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