Dynamic load-carrying capacity of mobile-base flexible joint manipulators

International Journal of Advanced Manufacturing Technology

Volumn 25, Issue 1-2, 2005, Pages 62-70

  Korayem, M H ^a   Ghariblu, H ^a   Basu, A ^b  

^a IRAN UNIVERSITY OF SCIENCE AND TECHNOLOGY   (Iran)

^b UNIVERSITY OF WOLLONGONG   (Australia)

Author keywords

Base; Joint elasticity; Load carrying capacity; Manipulator; Mobility

Indexed keywords

ACTUATORS; ELASTICITY; END EFFECTORS; LOAD LIMITS; MATHEMATICAL MODELS; SERVOMOTORS; UNIVERSAL JOINTS;

BASES; JOINT ELASTICITY; LOAD CARRYING CAPACITY; MOBILITY;

FLEXIBLE MANIPULATORS;

EID: 11144278576     PISSN: 02683768     EISSN: None     Source Type: Journal    
DOI: 10.1007/s00170-003-1868-7     Document Type: Article

References (12)

1. Wang LT, Ravani B (1988) Dynamic load carrying capacity of mechanical manipulators: I. Problem formulation. J Dyn Sys Measure Control 110:46-52
2. Wang LT, Ravani B (1988) Dynamic load carrying capacity of mechanical manipulators: II. Computational procedure and applications. J Dyn Sys Measure Control 110:53-61
3. Thomas M, Yuan-Chou HC, Tesar D (1985) Optimal actuator sizing for robotic manipulators based on local dynamic criteria. J Mech Transmiss Autom Des 107:163-169
4. Korayem MH, Basu A (1994) Formulation and numerical solution of elastic robot dynamic motion with maximum load carrying capacity. Robotica 12:253-261
5. Korayem MH, Basu A (1994) Dynamic load carrying capacity for robotic manipulators with joint elasticity imposing accuracy constraints. Robot Auton Sys 13:219-229
6. Yue S, Tso SK, Xu WL (2001) Maximum dynamic payload trajectory for flexible robot manipulators with kinematic redundancy. Mech Mach Theory 36:785-800
7. Korayem MH, Ghariblu H (2004) The effect of base replacement on dynamic load carrying capacity of robotic manipulators. Int J Adv Manuf Technol 23(1):28-38
8. Papadopoulos EG, Ray DR (1996) A new measure of tip over stability margin for mobile manipulators. In: Proceedings of the IEEE international conference on robotics and automation, pp 3111-3116
9. Ghasempoor A, Sepehri N (1995) A measure of stability for mobile based manipulators. In: Proceedings of the IEEE international conference on robotics and automation, pp 2249-2254
10. Rey DA, Papadopoulos EG (1997) Online automatic tip-over preventation for mobile and redundant manipulators. In: Proceedings of the IEEE international conference on intelligent robots and systems (IROS'97), pp 1273-1278
11. Papadopoulos E, Gonthier Y (1999) A frame force for large force task planning of mobile and redundant manipulators. J Robot Sys 16(3):151-162
12. Fresonke DA, Fernandez E, Tesar D (1988) Deflection prediction for serial manipulators. In: Proceedings of the IEEE international conference on robotics and automation, pp 482-487