Stiffness Based Global Indices for Structural Evaluation of Anthropomorphic Manipulators
Conference: ISR/Robotik 2014 - 45th International Symposium on Robotics; 8th German Conference on Robotics
06/02/2014 - 06/03/2014 at München, Germany
Proceedings: ISR/Robotik 2014
Pages: 8Language: englishTyp: PDF
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Authors:
Vemula, Bhanoday (Maelardalens University, Eskilstuna, Sweden)
Spampinato, Giacomo (Maelardalen University, Vaesteras, Sweden)
Brogardh, Torgny (ABB Robotics, Vaesteras, Sweden)
Feng, Xiaolong (ABB CRC, Vaesteras, Sweden)
Abstract:
Knowledge based on experience and rules of thumb is often used during the concept selection phase of robot design since it could be extremely time consuming to perform the complete robot design process on all the possible structural alternatives. This article proposes an efficient procedure to perform structural evaluation of anthropomorphic manipulators with and without parallel transmission linkages for applicability in new generations of light weight and cost effective industrial robots. In this study the structural evaluation is performed based on the static elasticity behaviour of the two manipulator structures with emphasis on improving the structural rigidity without jeopardizing the control characteristics with respect to static deflection and natural frequencies.