An effective controller and compensator is designed by using the system identification and constant structure theory to realize the effective control. The experimental results indicate the extraneous torque can be dec...An effective controller and compensator is designed by using the system identification and constant structure theory to realize the effective control. The experimental results indicate the extraneous torque can be decreased by 90% and the characteristics can be improved greatly by means of this kind of method.展开更多
Static balancing for a manipulator＇s weight is necessary in terms of energy saving and performance improvement. This paper proposes a method to design balancing devices for articulated robots in industry, based on ro...Static balancing for a manipulator＇s weight is necessary in terms of energy saving and performance improvement. This paper proposes a method to design balancing devices for articulated robots in industry, based on robotic dynamics. Full design details for the balancing system using springs are presented from two aspects： One is the optimization for the position of the balancing system; the other is the design of the spring parameters. As examples, two feasible balancing devices are proposed, based on different robotic structures： The first solution consists of linkages and springs; the other consists of pulleys, cross mechanisms and （hydro-） pneumatic springs. Then the two solutions are compared. Pneumatic, hydro-pneumatic and mechanical springs are discussed and their parameters are decided according to the requirements of torque compensation. Numerical results show that with the proper design using the methodology presented in this paper, an articulated robot can be statically balanced perfectly in all configurations. This paper therefore provides a design method of the balancing system for other similar structures.展开更多
文摘An effective controller and compensator is designed by using the system identification and constant structure theory to realize the effective control. The experimental results indicate the extraneous torque can be decreased by 90% and the characteristics can be improved greatly by means of this kind of method.
文摘Static balancing for a manipulator＇s weight is necessary in terms of energy saving and performance improvement. This paper proposes a method to design balancing devices for articulated robots in industry, based on robotic dynamics. Full design details for the balancing system using springs are presented from two aspects： One is the optimization for the position of the balancing system; the other is the design of the spring parameters. As examples, two feasible balancing devices are proposed, based on different robotic structures： The first solution consists of linkages and springs; the other consists of pulleys, cross mechanisms and （hydro-） pneumatic springs. Then the two solutions are compared. Pneumatic, hydro-pneumatic and mechanical springs are discussed and their parameters are decided according to the requirements of torque compensation. Numerical results show that with the proper design using the methodology presented in this paper, an articulated robot can be statically balanced perfectly in all configurations. This paper therefore provides a design method of the balancing system for other similar structures.
