Structural Design and Analysis of a New Semi-Direct Drive Robot Arm: Theory and Experiment

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This paper reports the mechanical design, structural analysis, and experimental verification of a new high performance semi-direct drive robot arm. A design optimization methodology employing finite element analysis (FEA) is reviewed, and a resulting arm design is reported. FEA simulations of the final design predict high structural vibration frequencies throughout the arms workspace. Extensive structural vibration experiments with the completed manipulator confirm the predicted structural vibration characteristics throughout the arm's workspace.

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    ABSTRACT: Reports the first direct structural comparison of a family of two-degrees-of-freedom semi-direct-drive linkages for robot arms. One novel and three previously reported linkage designs were optimized and compared using finite-element analysis. The results quantify structural properties of the four optimized designs under variations in joint position and payload. Several frequently overlooked issues essential for fair comparison of disparate linkages are identified and addressed
    IEEE/ASME Transactions on Mechatronics 04/1999; 4(1-4):82 - 86. DOI:10.1109/3516.752087 · 3.43 Impact Factor
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    ABSTRACT: Describes the results of research on the oscillatory behavior that has been systematically experienced in the force measured during contact motion of an industrial robot. Two phenomena have been found to be mainly responsible for it, namely, the arm structural elasticity due to the torsional flexibility of the joints and the torque ripple of the brushless motors. The structural elasticity is characterized by a resonance frequency which varies with the arm configuration, while the torque ripple has harmonics of frequency proportional to the motor velocity. Most severe oscillations, and even loss of the contact, arise when the resonance and ripple frequency values come closer or match, so that elasticity and ripple excite each other
    IEEE/ASME Transactions on Mechatronics 04/1999; 4(1-4):86 - 91. DOI:10.1109/3516.752088 · 3.43 Impact Factor
  • Journal of Dynamic Systems Measurement and Control 01/1995; 117(4). DOI:10.1115/1.2801109 · 0.98 Impact Factor


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