EFFECT OF MASS BALANCING ON THE ACTUATOR TORQUES OF A MANIPULATOR


DIKEN H.

MECHANISM AND MACHINE THEORY, vol.30, no.4, pp.495-500, 1995 (Journal Indexed in SCI) identifier identifier

  • Publication Type: Article / Article
  • Volume: 30 Issue: 4
  • Publication Date: 1995
  • Doi Number: 10.1016/0094-114x(94)00060-x
  • Title of Journal : MECHANISM AND MACHINE THEORY
  • Page Numbers: pp.495-500

Abstract

In this paper the method of dynamically equivalent mass distribution is applied to the arms of the revolute type manipulator. To the new system balancing masses are added to eliminate the gravity terms of the dynamic equations. Original manipulator is compared with the balanced arm manipulator in terms of actuator torques and consumed energy. Balancing greatly reduced the required actuator torques and also consumed energy.