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Dynamic model and performances of 2-DOF manipulators

Published online by Cambridge University Press:  31 October 2005

Raffaele Di Gregorio
Raffaele Di Gregorio
Affiliation:
Department of Engineering, University of Ferrara Via Saragat, 1-44100 FERRARA (Italy) E-mail: rdigregorio@ing.unife.it
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Abstract

Tools that make it possible to measure the performances of manipulators are essential in many technical applications, for instance, when the optimal path to accomplish a task has to be chosen, or when different manipulator architectures have to be compared. This paper proposes some indices that fully describe the passive dynamic performances of manipulators with two degrees of freedom (dof). The pro- posed indices make it possible to compare the passive dynamic performances of different manipulator architectures, which can perform the same tasks, and can be used to build diagrams which highlight the effects of variations in the manipulator geometry on the manipulator dynamics. These features make them easy to be used in a design context. Finally, some applications of the proposed indices will be presented and discussed.

Keywords

DynamicsPerformance indicesMechanism designManipulator architecture
Type
Research Article
Information
Robotica , Volume 24 , Issue 1 , January 2006 , pp. 51 - 60
Copyright
2005 Cambridge University Press

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