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A Kinematical Algorithm and Dynamical Point Mass Simulation Applied in Robots and Manipulators

  • Michael S. Kostantinov
  • Zanko I. Zankov
Part of the International Centre for Mechanical Sciences book series (CISM, volume 201)

Summary

A review which discusses current work on the development of manipulators and industrial robots is made. A mathematical algorithm for the kinematical investigation of manipulators and hand/arm systems of robots is conceived on the basis of a vector-complex operator. Thus, the relation between the movement of the object to be manipulated and the relative motion of the manipulator (hand/arm) linkages is clarified, wherein the distribution of the velocities in the end linkage (the hand) is determined. The dynamical response of the object is simulated by a system of permanent point masses. Finally, an example describing an automatic handling arrangement in hot forging industrial environment is discussed.

Keywords

Industrial Robot Primary Movement Secondary Movement Pneumatic Actuator Spatial Mechanism 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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Copyright information

© Springer-Verlag Wien 1974

Authors and Affiliations

  • Michael S. Kostantinov
    • 1
  • Zanko I. Zankov
    • 1
  1. 1.Department of Mechanical & Technological EngineeringMechanical and Electrotechnical InstituteSofiaBulgaria

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