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Micro-Macro or Link-Integrated Micro-Actuator Manipulation: A Kinematics and Dynamics Perspective

[+] Author Affiliations
J. Zhang, J. Rastegar

State University of New York at Stony Brook, Stony Brook, NY

Paper No. DETC2005-84706, pp. 159-166; 8 pages
  • ASME 2005 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 7: 29th Mechanisms and Robotics Conference, Parts A and B
  • Long Beach, California, USA, September 24–28, 2005
  • Conference Sponsors: Design Engineering Division and Computers and Information in Engineering Division
  • ISBN: 0-7918-4744-6 | eISBN: 0-7918-3766-1
  • Copyright © 2005 by ASME


Smart (active) material based actuators, hereinafter called micro-actuators, have been shown to be well suited for the elimination of high harmonics in joint and/or end-effector motions of the robot manipulators and reduce actuator dynamic response requirements. Low harmonic joint and end-effector motions as well as low actuator dynamic response requirements are essential for a robot manipulator to be capable of operating at high speeds with greater precision and with less vibration and control problems. Micro-actuators may be positioned at the end-effector to obtain a micro and macro robot manipulation. Alternatively, micro-actuators may be integrated into the links to vary a link parameter such as the link length. In this paper, the kinematics and dynamics consequences of each alternative are studies for manipulators with serial and closed-loop chains. It is shown that for the robot manipulator constructed with closed-loop chains, the high harmonic components of all joint motions can be eliminated only when micro-actuators are integrated into the structure of the closed-loop chain links. The latter configuration is also shown to have dynamics advantage over micro and macro configuration. thereby reducing the potential vibration and control problems at higher operating speeds. The conclusions also apply to closed-loop chains of parallel and cooperating robot manipulators.

Copyright © 2005 by ASME



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