{"title":"机器人有效质量的研究：末端效应器位置的相关性","authors":"Abdel-Nasser Sharkawy","doi":"10.24423/ENGTRANS.1329.20210826","DOIUrl":null,"url":null,"abstract":"In this paper, the mathematical analysis of the robot effective mass is presented. The calculation of this effective mass and its ellipsoid are included. The relationship between the robot effective mass and the external force (collision) affecting the robot end-effector is investigated. The effective mass is analyzed using different robot configurations and different end-effector positions. This analysis is conducted using 2-DOF and 3-DOF planar robots and executed using MATLAB. The results from this analysis prove that the robot effective mass depends on the its configurations and end-effector position. Effective mass can thus be considered as one of the criteria in optimizing robot kinematics and configuration.","PeriodicalId":38552,"journal":{"name":"Engineering Transactions","volume":null,"pages":null},"PeriodicalIF":0.0000,"publicationDate":"2021-08-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"2","resultStr":"{\"title\":\"An Investigation on the Effective Mass of the Robot: Dependence on the End-Effector Position\",\"authors\":\"Abdel-Nasser Sharkawy\",\"doi\":\"10.24423/ENGTRANS.1329.20210826\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"In this paper, the mathematical analysis of the robot effective mass is presented. The calculation of this effective mass and its ellipsoid are included. The relationship between the robot effective mass and the external force (collision) affecting the robot end-effector is investigated. The effective mass is analyzed using different robot configurations and different end-effector positions. This analysis is conducted using 2-DOF and 3-DOF planar robots and executed using MATLAB. The results from this analysis prove that the robot effective mass depends on the its configurations and end-effector position. Effective mass can thus be considered as one of the criteria in optimizing robot kinematics and configuration.\",\"PeriodicalId\":38552,\"journal\":{\"name\":\"Engineering Transactions\",\"volume\":null,\"pages\":null},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2021-08-26\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"2\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Engineering Transactions\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.24423/ENGTRANS.1329.20210826\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"Q2\",\"JCRName\":\"Engineering\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Engineering Transactions","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.24423/ENGTRANS.1329.20210826","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q2","JCRName":"Engineering","Score":null,"Total":0}
An Investigation on the Effective Mass of the Robot: Dependence on the End-Effector Position
In this paper, the mathematical analysis of the robot effective mass is presented. The calculation of this effective mass and its ellipsoid are included. The relationship between the robot effective mass and the external force (collision) affecting the robot end-effector is investigated. The effective mass is analyzed using different robot configurations and different end-effector positions. This analysis is conducted using 2-DOF and 3-DOF planar robots and executed using MATLAB. The results from this analysis prove that the robot effective mass depends on the its configurations and end-effector position. Effective mass can thus be considered as one of the criteria in optimizing robot kinematics and configuration.
期刊介绍：
Engineering Transactions (formerly Rozprawy Inżynierskie) is a refereed international journal founded in 1952. The journal promotes research and practice in engineering science and provides a forum for interdisciplinary publications combining mechanics with: Material science, Mechatronics, Biomechanics and Biotechnologies, Environmental science, Photonics, Information technologies, Other engineering applications. The journal publishes original papers covering a broad area of research activities including: experimental and hybrid techniques, analytical and numerical approaches. Review articles and special issues are also welcome. Following long tradition, all articles are peer reviewed and our expert referees ensure that the papers accepted for publication comply with high scientific standards. Engineering Transactions is a quarterly journal intended to be interesting and useful for the researchers and practitioners in academic and industrial communities.
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