0

Full Content is available to subscribers

Subscribe/Learn More  >

Towards Whole-Arm Statics

[+] Author Affiliations
Nicolas Lauzier, Clément Gosselin

Université Laval, Québec, QC, Canada

Paper No. DETC2011-47666, pp. 335-344; 10 pages
doi:10.1115/DETC2011-47666
From:
  • ASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 6: 35th Mechanisms and Robotics Conference, Parts A and B
  • Washington, DC, USA, August 28–31, 2011
  • Conference Sponsors: Design Engineering Division and Computers and Information in Engineering Division
  • ISBN: 978-0-7918-5483-9
  • Copyright © 2011 by ASME

abstract

In this paper, a novel approach is proposed to compute the maximum contact force that can be applied by a manipulator at any point on its external surface. The approach consists in the approximation of the robot’s external surface by simple primitives for which the position and normal direction can easily be expressed analytically for any point on the surface. This approach is also used to compute analytically the boundaries of the zones on the external surface where the achievable force exceeds a predetermined threshold. A method is developed for determining the limit joint torques which ensure that the achievable force cannot exceed a predetermined magnitude for any point on the primitives. Specific equations are developed for two types of primitives (parallelogram and cylinder) along with generic procedures applicable to any shape. An example is presented to illustrate how the proposed procedures can be applied for the solution of a typical problem. Finally, the applicability and limitations of this approach are discussed. A potential application for this work is to provide information on a robot’s dangerousness to its controller in order to improve safety.

Copyright © 2011 by ASME

Figures

Tables

Interactive Graphics

Video

Country-Specific Mortality and Growth Failure in Infancy and Yound Children and Association With Material Stature

Use interactive graphics and maps to view and sort country-specific infant and early dhildhood mortality and growth failure data and their association with maternal

NOTE:
Citing articles are presented as examples only. In non-demo SCM6 implementation, integration with CrossRef’s "Cited By" API will populate this tab (http://www.crossref.org/citedby.html).

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In