An Investigation on the Effective Mass of the Robot: Dependence on the End-Effector Position

Q2 Engineering

Engineering Transactions Pub Date : 2021-08-26 DOI:10.24423/ENGTRANS.1329.20210826

Abdel-Nasser Sharkawy

引用次数: 2

Abstract

In this paper, the mathematical analysis of the robot effective mass is presented. The calculation of this effective mass and its ellipsoid are included. The relationship between the robot effective mass and the external force (collision) affecting the robot end-effector is investigated. The effective mass is analyzed using different robot configurations and different end-effector positions. This analysis is conducted using 2-DOF and 3-DOF planar robots and executed using MATLAB. The results from this analysis prove that the robot effective mass depends on the its configurations and end-effector position. Effective mass can thus be considered as one of the criteria in optimizing robot kinematics and configuration.

查看原文本刊更多论文

机器人有效质量的研究：末端效应器位置的相关性

本文对机器人有效质量进行了数学分析。包括该有效质量及其椭球体的计算。研究了机器人有效质量与影响机器人末端执行器的外力（碰撞）之间的关系。使用不同的机器人配置和不同的末端执行器位置来分析有效质量。该分析使用2自由度和3自由度平面机器人进行，并使用MATLAB执行。分析结果表明，机器人的有效质量取决于其结构和末端执行器的位置。因此，有效质量可以被视为优化机器人运动学和配置的标准之一。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

求助全文

约1分钟内获得全文求助全文

来源期刊

Engineering Transactions Engineering-Engineering (all)

CiteScore

1.40

自引率

0.00%

发文量

期刊介绍： Engineering Transactions (formerly Rozprawy Inżynierskie) is a refereed international journal founded in 1952. The journal promotes research and practice in engineering science and provides a forum for interdisciplinary publications combining mechanics with: Material science, Mechatronics, Biomechanics and Biotechnologies, Environmental science, Photonics, Information technologies, Other engineering applications. The journal publishes original papers covering a broad area of research activities including: experimental and hybrid techniques, analytical and numerical approaches. Review articles and special issues are also welcome. Following long tradition, all articles are peer reviewed and our expert referees ensure that the papers accepted for publication comply with high scientific standards. Engineering Transactions is a quarterly journal intended to be interesting and useful for the researchers and practitioners in academic and industrial communities.