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Minimization of Force and Torque Transmission in Robotic Systems

Authors: [tex2html_wrap4290]A. Abu-Abed, E. Papadopoulos

Investigator username: egpapado

Category: robotics

Subcategory: manipulators and actuators

In many applications of advanced robotic systems, reaction forces and moments transmitted by a manipulator to its base are highly undesirable. Such reactions reduce the accuracy of high-speed manipulators, destroy zero-g environments in space, require thruster fuel to stabilize free-flying space robots, or excite suspensions in mobile robotic systems. Based on force and moment transmission analysis, a three Degree-of-Freedom (DOF) redundant manipulator design was selected aiming at reactionless motions. Dynamic reaction forces are eliminated by using force balancing, while reaction moments are eliminated by following reactionless paths, whose planning is simplified by rendering the manipulator dynamics decoupled and invariant. An advantage of our design is that the manipulator can be used either as a redundant system, or as a two DOF reactionless system.

REPORT 1. Abu-Abed, A., ``Analysis and Design of Zero Reaction Planar Robots'', CIM 93-24.