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Design and simulation of a class of spatial reactionless manipulators

Published online by Cambridge University Press:  12 January 2005

Abbas Fattah  and
Sunil K. Agrawal
Abbas Fattah
Affiliation:
Mechanical Systems Laboratory, Department of Mechanical Engineering, University of Delaware, Newark, DE 19716 (USA) E-mail: fattah@me.udel.edu, agrawal@me.udel.edu
Sunil K. Agrawal
Affiliation:
Mechanical Systems Laboratory, Department of Mechanical Engineering, University of Delaware, Newark, DE 19716 (USA) E-mail: fattah@me.udel.edu, agrawal@me.udel.edu
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Abstract

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For conventional designs of robots, manipulator motions result in forces and moments on the base. These forces and moments may cause undesirable translation and rotation of the base. The objective of this paper is to systematically analyze the fundamentals of reactionless robots. Based on this analysis, a design of one distinct class of spatial robot is proposed. The design is achieved through appropriate choices of geometric and inertial parameters. Due to the underlying conservation laws, the trajectory must satisfy additional constraints. We illustrate the reactionless feature of this robot through computer simulations. We are also fabricating reactionless robots to illustrate the underlying concepts.

Keywords

Reactionless manipulatorsSpatial robotsConstraints
Type
Research Article
Information
Robotica , Volume 23 , Issue 1 , January 2005 , pp. 75 - 81
Copyright
2005 Cambridge University Press