Open AccessA Design Method of Two DOF Joint at the Base of Heavy-load Manipulator Based on Linear Driving
Author(s) -
Zongmiao Dai,
Peizhang Wu,
Hongtao Wang
Publication year - 2019
Publication title -
iop conference series. materials science and engineering
Language(s) - English
Resource type - Journals
eISSN - 1757-899X
pISSN - 1757-8981
DOI - 10.1088/1757-899x/575/1/012011
Subject(s) - kinematics , joint (building) , torque , manipulator (device) , base (topology) , computer science , control theory (sociology) , virtual work , work (physics) , key (lock) , simulation , engineering , structural engineering , mathematics , finite element method , mechanical engineering , robot , physics , artificial intelligence , mathematical analysis , control (management) , computer security , classical mechanics , thermodynamics
In this paper, we propose a two DOF joint mechanical design scheme for heavy-load manipulator based on linear driving, the key structural parameters that directly influencing on the linear driving force is determined. Based on the multi-body kinematics and the principle of virtual work, we derive the relationship between the torque of joint space at the base of the heavy-load manipulator and the force of linear driving, then by analyzing the relationship, we obtain the design method of key structural parameters. Finally, using simulation analysis we validate this design method.