The International Journal of Robotics Study, Ahead of Publish.
The kinematic arrangement area of a manipulator establishes the collection of all feasible movements that might take place, and its differential buildings have a solid, albeit indirect, affect on both fixed and vibrant efficiency. By checking out first-order kinematics as an area of Jacobian-defined ellipses throughout a work area, an unique 2 degree-of-freedom manipulator was created, and is examined in this paper for its advantages. The manipulator shows an area of ellipses that prejudices transmission qualities in Cartesian instructions of the end-effector. The straight instructions is prejudiced towards rate in order to cross the size of the work space swiftly, while the upright instructions is prejudiced towards pressure manufacturing in order to withstand gravitational tons. The last prejudice grants the manipulator with lots capability in the lack of equipments. Such an exemption can do away with the added weight, intricacy, reaction, transmission losses, and delicacy of transmissions. In addition, a straight drive set up boosts backdrivability and openness. The last pertains to applications that entail connecting with the setting or individuals. Our unique layout is established via a variety of academic and speculative efficiency research studies in contrast to a traditional straight drive manipulator. The speculative outcomes revealed a 3.75 × boost in haul capability, a 2 × boost in vibrant monitoring precision, a 2.07 × boost in vibrant biking regularity, and a minimum of a 3.70 × decrease in power usage, thinking about both fixed and vibrant experiments.
发布者：Shashank Ramesh，转转请注明出处：https://robotalks.cn/a-direct-drive-five-bar-manipulator-with-tuned-directional-first-order-kinematics-for-low-energy-consumption-in-vertical-loading/
