Mechanism design and control of dynamically-coupled driving based manipulator
Mechanism design and control of dynamically-coupled driving based manipulator
复制标题
基于动耦合驱动的机械臂机构设计与控制
DOI：
10.1109/rissp.2003.1285539
复制
发表时间：
2003
期刊：
影响因子：
--
通讯作者：
M. Kajitani
中科院分区：
文献类型：
--
作者：
A. Ming;Chunquan Xu;T. Maruyama;M. Shimojo;M. Kajitani
传统机械手的动力学性能通常受到笨重结构的限制。与传统的机械手不同，人在智能结构中可以利用身体和手臂之间的动力耦合驱动进行多种超动态操作。为了在很大程度上提高机械手的动态性能，提出了机械手机构设计和控制的基本概念和一般方法，即利用动力耦合驱动来模拟人的动作。此外，在机械手中使用关节止动器增强了动力耦合驱动的效果。为了证明该建议的可行性，超动力机械手已被制造和基本的实验已经进行。实验结果表明，动力耦合驱动的重要作用，实现高效的超动态操作，而在智能结构。本文介绍了开发的原型和实验结果。
Usually the dynamic capability of conventional manipulators is limited by heavy structure. Different from those manipulators, human can do many hyper dynamic manipulations while in a smart structure by utilizing dynamically-coupled driving between body and arms. Aiming at improving the dynamic capability of a manipulator in a large extent, a basic concept and general method on the mechanism design and control of the manipulator is proposed, just to simulate the action of human utilizing the dynamically-coupled driving. Furthermore, using joint stop in a manipulator is enhancing the effect of dynamically-coupled driving. To show the feasibility of the proposal, a hyper dynamic manipulator has been fabricated and fundamental experiments have been carried out. Experimental results have shown the important role of the dynamically-coupled driving, to realize an efficient hyper dynamic manipulation while in a smart structure. This paper describes the developed prototype and experimental results.