Actuating Performances of Planar Articulated Manipulators with and without Static Balance

• Main Authors: Ho-Tai Tsai, 蔡和泰
• Other Authors: Dar-Zen Chen
• Format: Others
• Language: en_US
• Published: 2018
• Online Access: http://ndltd.ncl.edu.tw/handle/rwbhub

碩士 === 國立臺灣大學 === 機械工程學研究所 === 106 === This paper presents actuating performances of planar articulated manipulators with and without static balance, especially the spring balancing ones. The joint torques of manipulators are analyzed for deriving differences between actuating performances of manipulators with and without static balance, and stall torque, the maximum value and root-mean-square (RMS) value of joint torques are used for assessing the braking ability, the minimum admissible motors size and energy consumption of manipulators respectively. A 3-DOF manipulator with static balance is designed for analysis, and the joint torques are calculated by the Euler-Lagrange equation and simulated in Matlab. The maximum values of joint torques in the workspace are used for selecting the motors of manipulators, and the results show that the maximum values on each joint of the manipulator with static balance are reduced to 21.7%, 31.6%, and 60.1% respectively. Lifting and pick-and-place trajectory are simulated for assessing the energy consumption of manipulators, and the results show that the joint torques of the manipulator with static balance equal to zero in lifting operation, the RMS value of joint torque are reduced to 1.7% at most and 37.5% at least in pick-and-place operation.