A method to calculate working capacity space of multi-DOF manipulator and the application in excavating mechanism

Abstract

Working capacity refers to the velocity output and force output of a manipulator. It is usually be represented by output capacity space. In this paper, the method of Linear Programming and a geometric method are proposed to calculate working capacity spaces in different situations. With the consideration of gravity effect of every component, the output force capacity space of heavy duty manipulators is calculated. The results show that the effect of the gravity is a translation of the capacity space. This paper gives a method for the output capacity express especially for heavy duty manipulators. The output capacity space can be helpful to the driving parameters selection. With the consideration of the gravity effect of every component and the friction at the joints, the excavating force capacity space of the heavy-load excavating mechanism is calculated and is represented as a multi-dimensional polytope. The results show that the effect of the gravity and friction is to translational act on the capacity space.

Keywords

working capacity / multi-DOF manipulator / capacity polytope / excavating mechanism

References

[1] Yoshikawa T. Analysis and control of robot manipulators with redundancy. Robotics Research The First International Symposium, 1984, 753-747

[2] Yoshikawa T. Manipulability of robotic mechanisms. International Journal of Robotics Research, 1985, 4(2): 3-9

[3] Yoshikawa T. Dynamic manipulability of robot manipulators. In: Proceedings of IEEE International Conference on Robotics and Automation, 1985, 1033-1038

[4] Doty K L, Melchiorri C, Schwartz E M, Bonivento C. Robot manipulability. IEEE Transactions on Robotics and Automation, 1995, 11(3): 462-468

[5] Lee J H. A study on the manipulability measures for robot manipulators. In: Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robots and Systems. Grenoble, France, 1997, 1458-1465

[6] Nokleby S B, Fisher R, Podhorodeski R P, Firmani F. Force capabilities of redundantly-actuated parallel manipulators. Mechanism and Machine Theory, 2005, 40(5): 578-599

[7] Merlet J P. Jacobian, manipulability, condition number, and accuracy of parallel robots. Journal of Mechanical Design, 2006, 128(1): 199-206

[8] Wei B C, Gao F, Chen J, He J, Wu S, Song Q. Mechanics performance of a 3-DOF excavating mechanism of electric shovel. Proceedings of the Institution of Mechanical Engineers. Part C, Journal of Mechanical Engineering Science, 2011, 225(6): 1443-1457

Acknowledgements

This work is partially supported by National Natural Science Foundation of China (Grant No. 50821003), National Hi-Tech Research and Development Program of China (No. 2009AA044101), and The National Basic Research Program (No. 2006CB705402).

RIGHTS & PERMISSIONS

2014 Higher Education Press and Springer-Verlag Berlin Heidelberg