Abstract
The modern development of robotic mechanisms is rapidly increasing. A linear composite speed of manipulation robots now achieves 5 m/s and angular speed of their particular links (segments) surpasses 8 rad/s. This is not only characteristic of robots with small reachability, but also of robots with larger manipulator possibilities. Such an increase leads to a significant dynamic effect in robot mechanisms, necessitating a careful study of their dynamics. Adequate dynamic models of manipulation robots can be used for robot mechanism design, optimal choice of its actuators, and also for modern robot controller design. A mathematical model derivation of the dynamics of artropoidal robot configuration, frequently used today in industrial practice, is presented below.
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References
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© 1989 Springer-Verlag Berlin Heidelberg
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Vukobratović, M., Vujić, D. (1989). Dynamics and Dynamic Analysis of Manipulation Robots. In: Introduction to Robotics. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-82997-0_3
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DOI: https://doi.org/10.1007/978-3-642-82997-0_3
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-82999-4
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