Dynamic modeling of new modular manipulators

Konferenz: ISR 2016 - 47st International Symposium on Robotics
21.06.2016 - 22.06.2016 in München, Germany

Tagungsband: ISR 2016

Seiten: 6Sprache: EnglischTyp: PDF

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Forgo, Zoltan (Transylvanian Museum Society, Cluj-Napoca / Sapientia University, Târgu-Mures, Romania)
Szilagyi, Arnold (Sheet Metal Processing SRL, Romania)

The paper introduces the dynamic modelling of a novel drive module with one translational and one rotational degree of freedom. The mechanism of the presented system has a timing belt setup, which enables a parallel drive of two DoF. Based on this mechanism it is possible to build low – 2, 3 and 4 – DoF or even 6 DoF manipulators. The combinatorial possibilities are systematic presented in [1]. Present paper will enrich the proposed mechanisms; as well dynamic models of the manipulators are presented. The advantages of the new mechanisms are underlined by presenting numerical results also.