Theoretical and Applied Mechanics 2015 Volume 42, Issue 4, Pages: 249-260
https://doi.org/10.2298/TAM1504249S
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Minimization of dynamic joint reaction forces of the 2-DOF serial manipulators based on interpolating polynomials and counterweights
Šalinić Slaviša (Faculty of Mechanical and Civil Engineering, Kraljevo)
Bošković Marina (Faculty of Mechanical and Civil Engineering, Kraljevo)
Bulatović Radovan R. (Faculty of Mechanical and Civil Engineering, Kraljevo)
This paper presents two ways for the minimization of joint reaction forces
due to inertia forces (dynamic joint reaction forces) in a two degrees of
freedom (2-DOF) planar serial manipulator. The first way is based on the
optimal selection of the angular rotations laws of the manipulator links and
the second one is by attaching counterweights to the manipulator links. The
influence of the payload carrying by the manipulator on the dynamic joint
reaction forces is also considered. The expressions for the joint reaction
forces are obtained in a symbolic form by means of the Lagrange equations of
motion. The inertial properties of the manipulator links are represented by
dynamical equivalent systems of two point masses. The weighted sum of the
root mean squares of the magnitudes of the dynamic joint reactions is used as
an objective function. The effectiveness of the two ways mentioned is
discussed.
Keywords: serial manipulator, equimomental system, joint reaction forces, counterweights
Projekat Ministarstva nauke Republike Srbije, br. TR35006 i br.
TR35038