On the design of a direct drive 5-bar-linkage manipulator
- 1 December 1991
- journal article
- research article
- Published by Cambridge University Press (CUP) in Robotica
- Vol. 9 (4) , 441-446
- https://doi.org/10.1017/s026357470000062x
Abstract
SUMMARY: The 5-bar-linkage manipulator configuration is well suited to many industrial robotic applications. Aside from kinematic suitability, the dynamic equations are greatly simplified due to a decoupling of the manipulator inertia matrix. The design also lends itself to the use of direct drive motors. However, these motors must be capable of providing a high continuous torque to counter gravitational loading in the conventional manipulator design. In this paper, the static and dynamic design of the 5-bar-linkage manipulator is analysed. A technique is proposed whereby the motor torque requirements may be reduced to a fraction of those required in the conventional design, while simultaneously retaining the advantage of a decoupled inertia matrix. Details of a prototype manipulator and experimental results of its performance are presented.Keywords
This publication has 4 references indexed in Scilit:
- On the Dynamics and Control of Robotic Manipulators with an Automatic Balancing MechanismProceedings of the Institution of Mechanical Engineers, Part B: Management and engineering manufacture, 1987
- The optimal balancing of the robotic manipulatorsPublished by Institute of Electrical and Electronics Engineers (IEEE) ,1986
- Analysis and Design of a Direct-Drive Arm With a Five-Bar-Link Parallel Drive MechanismJournal of Dynamic Systems, Measurement, and Control, 1984
- Control of a Direct-Drive ArmJournal of Dynamic Systems, Measurement, and Control, 1983