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On the design of a direct drive 5-bar-linkage manipulator

Published online by Cambridge University Press:  09 March 2009

J. P. Huissoon  and
D. Wang
J. P. Huissoon
Affiliation:
University of Waterloo, Waterloo, Ontario (Canada) N2L 3G1
D. Wang
Affiliation:
University of Waterloo, Waterloo, Ontario (Canada) N2L 3G1
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Summary

The 5-bar-linkage manipulator configuration is well suited to many industrial robotic applications. Aside from kinematic suitability, the dynamic equations are greatly simplified due to a decoupling of the manipulator inertia matrix. The design also lends itself to the use of direct drive motors. However, these motors must be capable of providing a high continuous torque to counter gravitational loading in the conventional manipulator design. In this paper, the static and dynamic design of the 5-bar-linkage manipulator is analysed. A technique is proposed whereby the motor torque requirements may be reduced to a fraction of those required in the conventional design, while simultaneously retaining the advantage of a decoupled inertia matrix. Details of a prototype manipulator and experimental results of its performance are presented.

Keywords

Direct-drive robotFive-bar linkDesignPrototype

Information

Type
Article
Information
Robotica , Volume 9 , Issue 4 , December 1991 , pp. 441 - 446
Copyright
Copyright © Cambridge University Press 1991

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