Chapter
Apr 26, 2012
Design of a Lightweight Flexible Nonplanar Manipulator Testbed
Authors: Joe S. Gustwiller [email protected], Gregory P. Starr [email protected], and David G. Wilson [email protected]Author Affiliations
Publication: Robotics 2000
Abstract
The authors have designed and analyzed a lightweight flexible nonplanar manipulator testbed. The results of this study emphasize actual manipulator CAD/CAM design, analysis and hardware selection. The manipulator design has kinematics similar to a standard industrial robot, such as a PUMA 560, except that the linkages are all in-line without offsets. Counterbalances are used to offset the effects of gravity and reduce static loading. Direct-drive motors are used to provide gross motion which emphasizes link dynamics over actuator dynamics. To compensate for the link dynamics active graphite/epoxy composite links have been designed and constructed. The active composite links include embedded strain sensors and actuators to facilitate active vibration suppression during trajectory maneuvers.
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Information
Published In
Robotics 2000
Pages: 181 - 187
Copyright
© 2000 American Society of Civil Engineers.
History
Published online: Apr 26, 2012
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ASCE Technical Topics:
- Automation and robotics
- Business management
- Composite materials
- Continuum mechanics
- Dynamics (solid mechanics)
- Engineering fundamentals
- Engineering materials (by type)
- Engineering mechanics
- Geomechanics
- Geotechnical engineering
- Gravity loads
- Industries
- Kinematics
- Kinetics
- Materials engineering
- Minerals
- Motion (dynamics)
- Organizations
- Practice and Profession
- Soil mechanics
- Soil properties
- Solid mechanics
- Static loads
- Statics (mechanics)
- Systems engineering
Authors
Affiliations
Consultant, Design Work Group, Inc., 721 Indiana St., S.E., Albuquerque, NM 87108. E-mail: [email protected]
Professor, Dept. of Mech. Engineering, University of New Mexico, Albuquerque, NM 87131. E-mail: [email protected]
Consultant, WAYA Research, Inc, 1907 Buena Vista SE #80, Albuquerque, NM 87106. E-mail: [email protected]
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