The Influence of the End Effector Gyroscopic Torques on a Base of the Manipulator
[ 1 ] Instytut Automatyki i Inżynierii Informatycznej, Wydział Elektryczny, Politechnika Poznańska | [ D ] phd student | [ P ] employee
2014
paper
english
- gyroscopic effect
- manipulator
- mathematical modeling
EN In this paper, the model of the robotic arm with payload is presented. The payload is configured as a rotating mass, which imitate the tool on a robot’s wrist. While manipulating with working tool the gyroscopic effect can occur. This leads to extra moments in each joint of the manipulator. In order to evaluate the scale of the process and the consequences in the robot’s trajectory, mathematical model of the robot including rotating mass was derived. The system was simulated for different parameters. It was proven that the gyroscopic effect cannot be neglected, especially when the robot’s movement are rapid and conducted simultaneously in more then one joint at once. For the purpose of the work, authors decided to use manipulator with five degrees of freedom, equipped with rotational joints only.
387 - 397
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