NEW APPROACHES FOR COMPUTING DYNAMIC LOAD-CARRYING CAPACITY OF MULTIPLE COOPERATING ROBOTIC MANIPULATORS

作     者：Yang Yulin Lu Ling Zhao Yongsheng Zhou Yulin Yanshan University 

作者机构：Yanshan Univ China 

出 版 物：《Chinese Journal of Mechanical Engineering》 (中国机械工程学报（英文版）)

年 卷 期：1998年第11卷第2期

页      面：67-72页

核心收录：

学科分类：0817[工学-化学工程与技术] 080202[工学-机械电子工程] 08[工学] 0807[工学-动力工程及工程热物理] 0804[工学-仪器科学与技术] 0802[工学-机械工程] 0811[工学-控制科学与工程] 0801[工学-力学（可授工学、理学学位）] 

基　　金：中国科学院资助项目 

主　　题：Robotic manipulators Cooperating Dynamics Load carrying capacity 

摘      要：A novel unified method for computing the dynamic load carrying capacity(DLCC) of multiple cooperating robotic manipulators is *** this method,the kinematic constraints and the governing dynamic equations of the multiple robot system are formulated in the joint space by using the method of transference of dependence from one set of generalized coordinates to another,and the virtual work principle,which includes the readily available dynamics and joint torques of individual manipulators,and the dynamic of *** on this dynamic model,the upper limit of the DLCC at any points on a given trajectory is obtained by solving a small size linear programming *** method is conceptually straightforward,and it is applicable also to the cases of multi fingered robot hands and multi legged walking machines.