Smart (active) materials based actuators, hereinafter called micro-actuators, have been shown to be well suited for the elimination of high harmonics in joint and/or end-effector motions of robot manipulators and in the reduction of actuator dynamic response requirements. Low harmonic joint and end-effector motions, as well as low actuator dynamic response requirements, are essential for a robot manipulator to achieve high operating speed and precision with minimal vibration and control problems. Micro-actuators may be positioned at the end-effector to obtain a micro- and macro-robot manipulation configuration. Alternatively, micro-actuators may be integrated into the structure of the links to vary their kinematics parameters, such as their lengths during the motion. In this paper, the kinematics and dynamics consequences of each of the aforementioned alternative are studied for manipulators with serial and closed-loop chains. It is shown that for robot manipulators constructed with closed-loop chains, the high harmonic components of all joint motions can be eliminated only when micro-actuators are integrated into the structure of the closed-loop chain links. The latter configuration is also shown to have dynamics advantage over micro- and macro-manipulator configuration by reducing the potential vibration and control problems at high operating speeds. The conclusions reached in this study also apply to closed-loop chains of parallel and cooperating robot manipulators.
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October 2007
Technical Briefs
Micro/Macro or Link-Integrated Micro-actuator Manipulation—A Kinematics and Dynamics Perspective
J. Zhang,
J. Zhang
Department of Mechanical Engineering,
State University of New York at Stony Brook
, Stony Brook, NY 11794-2300
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J. Rastegar
J. Rastegar
Department of Mechanical Engineering,
State University of New York at Stony Brook
, Stony Brook, NY 11794-2300
Search for other works by this author on:
J. Zhang
Department of Mechanical Engineering,
State University of New York at Stony Brook
, Stony Brook, NY 11794-2300
J. Rastegar
Department of Mechanical Engineering,
State University of New York at Stony Brook
, Stony Brook, NY 11794-2300J. Mech. Des. Oct 2007, 129(10): 1086-1093 (8 pages)
Published Online: October 13, 2006
Article history
Received:
September 7, 2005
Revised:
October 13, 2006
Citation
Zhang, J., and Rastegar, J. (October 13, 2006). "Micro/Macro or Link-Integrated Micro-actuator Manipulation—A Kinematics and Dynamics Perspective." ASME. J. Mech. Des. October 2007; 129(10): 1086–1093. https://doi.org/10.1115/1.2757193
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