Resumen de Mechatronic design of adjustable serial manipulators with decoupled dynamics taking into account the changing payload
Vigen Arakelian, Jiali Xu, Jean Paul Le Baron
This paper deals with the problem of dynamic decoupling of adjustable serial manipulators via a new mechatronic design approach, which is based on the opposite motion of manipulator links and the optimal command design. The goal is to simplify the control by reducing the effects of complicated manipulator dynamics. The opposite motion of links with optimal redistribution of masses allows the cancellation of the coefficients of nonlinear terms in the manipulator’s kinetic and potential energy equations. Then, by using the optimal control design, the dynamic decoupling is achieved. The proposed approach, which is a symbiosis of mechanical and control solutions, improves the known design concepts permitting the dynamic decoupling of serial manipulators whilst taking into account the changing payload. It has two main advantages: at first, the dynamic decoupling of the manipulator is achieved without connection of gears to the links of the manipulator having oscillating motions and at second, the performance of the dynamic decoupling is improved by the changing payload. The suggested design methodology is illustrated by simulations carried out using ADAMS and MATLAB software, which have confirmed the efficiency of the developed approach.
