Acceleration Properties of Planar Manipulators from a Dynamic Standpoint

摘要

An important issue in designing manipulators for dynamic performance is the determination of the acceleration properties of (some reference-point on) the end-effector of the manipulator. Given the dynamical equations of the planar two degree-of-freedom manipulator and a set of constraints on the actuator torques and on the rates-of-changes of the joint variables, we systematically develop (a) the properties of the linear mapping between the actuator torques and the acceleration of (some reference-point on) the end-effector, and (b) the properties of the (non-linear) quadratic mapping between the rates-of-changes of the joint variables and the acceleration of the end-effector. We then show how these mappings can be combined to obtain useful acceleration sets--for example the acceleration set corresponding to any point in the workspace of the manipulator--as well as the properties of these sets. Acceleration properties, Dynamical equations, Actuator torques, Linear mapping, Quadratic mapping. (jes)