Design of the Fast Manipulator with Eliminated Joint Limits and Reduced Dynamic Interactions
In this paper a new concept of the manipulator design is proposed. This design due to application of a direct-drive motors with special transmission mechanisms and proper mass distribution, ensure the elimination of the dynamic interaction as well as joint limits in the manipulator arm. The first link of the arm is really driven directly, while the second and the third links are driven remotely through mechanisms, the transmission ratio of which equals 1. Primary structural assumptions for 6R manipulator with such a direct-drive arm and a spherical wrist driven through gears have been formulated. According to these assumptions the 1:5 model has been built. The first DOF of the arm together with all three DOFs of the wrist exhibit the motion range without any limits. In the two others joints the ranges of motion are limited to about 8n due to electrical cables twisting. Basing on the presented dynamic analysis, one can state, that the design being proposed ensure a considerable simplification of the control system and improves the properties of a fast direct-drive robot.
KeywordsDynamic Interaction Manipulator Design Fast Manipulator Joint Limit Joint Axis
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