| contributor author | H. Kazerooni | |
| contributor author | S. Kim | |
| date accessioned | 2017-05-08T23:33:06Z | |
| date available | 2017-05-08T23:33:06Z | |
| date copyright | May, 1990 | |
| date issued | 1990 | |
| identifier issn | 1087-1357 | |
| identifier other | JMSEFK-27743#197_1.pdf | |
| identifier uri | http://yetl.yabesh.ir/yetl/handle/yetl/107188 | |
| description abstract | In this research, a statically-balanced direct-drive manipulator is designed and constructed to achieve improved dynamic behavior for compliance control [10, 11, 12]. The manipulator mechanism, incorporating a four-bar linkage, is designed so that its functional parts are balanced in all positions without the addition of counterweights. The motors are never loaded by gravity. As a result, smaller motors with less torque can be used to achieve higher speed, accuracy, and repeatability in fine manipulation tasks. The robot is powered by high-torque AC synchronous motors. The mechanism is comprised of graphite-epoxy and AA7075T6 aluminum materials. The manipulator is controlled by a parallel processor computer. | |
| publisher | The American Society of Mechanical Engineers (ASME) | |
| title | On the Design and Construction of Direct-Drive Robots | |
| type | Journal Paper | |
| journal volume | 112 | |
| journal issue | 2 | |
| journal title | Journal of Manufacturing Science and Engineering | |
| identifier doi | 10.1115/1.2899568 | |
| journal fristpage | 197 | |
| journal lastpage | 201 | |
| identifier eissn | 1528-8935 | |
| keywords | Robots | |
| keywords | Construction | |
| keywords | Design | |
| keywords | Motors | |
| keywords | Manipulators | |
| keywords | Mechanisms | |
| keywords | Torque | |
| keywords | Gravity (Force) | |
| keywords | Aluminum | |
| keywords | Computers | |
| keywords | Graphite | |
| keywords | Epoxy adhesives AND Linkages | |
| tree | Journal of Manufacturing Science and Engineering:;1990:;volume( 112 ):;issue: 002 | |
| contenttype | Fulltext | |