New PDF release: 53.Robotics and Automation

By John G. Webster (Editor)

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Additional info for 53.Robotics and Automation

Example text

For this reason, it becomes difficult to fulfill two desired functions, a large work space and high positioning accuracy, at the same time. To solve this problem, a function is called for that changes the rigidity of individual parts and joints, which compose the C-circle. For this purpose, for example, increasing the apparent geometrical moment of inertia 358 MANIPULATORS Deformation ;;;; Coarse actuator Force 0 Force (b) Arm Fixing mechanism Base Fine actuator Workpiece Tool Figure 7. Realization of fine operation through piggyback structure.

This allows accomplishing tasks even when the accurate, absolute position of the tip with respect to the distal base is not known. In the future, a combination of these sensors and fine motion mechanisms mounted on the tool, for example, piezoelectric or friction-drive, will be subject to frequent use to compensate for relative positional error at high speed. The last issue is design modification of the object. To simplify the motion of a manipulator, it is often beneficial from the viewpoint of task execution to change the design of the object to a simpler one.

To produce this, for example, two pairs of springs and stoppers as shown in Fig. 5(b) are combined in tandem (2). Variable Compliance Mechanism. The manipulator that fulfills desired functions by its motions necessarily forms a C circle. For this reason, it becomes difficult to fulfill two desired functions, a large work space and high positioning accuracy, at the same time. To solve this problem, a function is called for that changes the rigidity of individual parts and joints, which compose the C-circle.

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53.Robotics and Automation by John G. Webster (Editor)


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