Dynamic modeling of new modular manipulators
Conference: ISR 2016 - 47st International Symposium on Robotics
06/21/2016 - 06/22/2016 at München, Germany
Proceedings: ISR 2016
Pages: 6Language: englishTyp: PDFPersonal VDE Members are entitled to a 10% discount on this title
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 . 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.