Center of Research in Applied Electronics (CRAE), University of Malaya, Kuala Lumpur 50603, Malaysia.
Sensors (Basel). 2012;12(6):6869-92. doi: 10.3390/s120606869. Epub 2012 May 25.
Research on joint torque reduction in robot manipulators has received considerable attention in recent years. Minimizing the computational complexity of torque optimization and the ability to calculate the magnitude of the joint torque accurately will result in a safe operation without overloading the joint actuators. This paper presents a mechanical design for a three dimensional planar redundant manipulator with the advantage of the reduction in the number of motors needed to control the joint angle, leading to a decrease in the weight of the manipulator. Many efforts have been focused on decreasing the weight of manipulators, such as using lightweight joints design or setting the actuators at the base of the manipulator and using tendons for the transmission of power to these joints. By using the design of this paper, only three motors are needed to control any n degrees of freedom in a three dimensional planar redundant manipulator instead of n motors. Therefore this design is very effective to decrease the weight of the manipulator as well as the number of motors needed to control the manipulator. In this paper, the torque of all the joints are calculated for the proposed manipulator (with three motors) and the conventional three dimensional planar manipulator (with one motor for each degree of freedom) to show the effectiveness of the proposed manipulator for decreasing the weight of the manipulator and minimizing driving joint torques.
近年来，机器人操纵器的关节转矩减小研究受到了相当多的关注。最小化转矩优化的计算复杂性和准确计算关节转矩大小的能力将导致安全操作，而不会使关节执行器过载。本文提出了一种三维平面冗余机械手的机械设计，其优点是减少了控制关节角度所需的电机数量，从而降低了机械手的重量。许多研究都集中在减轻机械手的重量上，例如使用轻质关节设计或在机械手的底部设置执行器，并使用肌腱将动力传递到这些关节。通过使用本文的设计，仅需三个电机即可控制三维平面冗余机械手的任何 n 个自由度，而不是 n 个电机。因此，这种设计对于减轻机械手的重量以及控制机械手所需的电机数量非常有效。本文计算了所提出的机械手（三个电机）和传统的三维平面机械手（每个自由度一个电机）的所有关节转矩，以证明所提出的机械手在减轻机械手重量和最小化驱动关节转矩方面的有效性。
