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Coriolis Moments in Manipulators: Demonstrative Experiment and Mathematical Analysis

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Intelligent Robotics and Applications (ICIRA 2008)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 5315))

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Abstract

This paper deals with the problem of how to demonstrate the Coriolis moments in manipulators by an experimental way. This paper brings together the whole solution to the demonstrative experiment plan—from the choice of the device, to the operation of the experiment. Through the use of a differential, a simplest two-DOF spatial mechanism is presented as a manipulator where the Coriolis moments can be analyzed in a systematic way. The phenomenon of the experiment clearly demonstrates the existence of Coriolis moments, and furthermore, the quantity relationship between the moment and the corresponding factors is also obtained.

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References

  1. Craig, J.J.: Introduction to Robotics. Addison-Wesley Publishing Company, Menlo Park (1986)

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  2. Spong, M.W., Vidyasagar, M.: Robot Dynamics and Control. Wiley, New York (1989)

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  3. Agrawal, S.K., Ryu, J.-C.: Design of Dissipative and Stable Assist. Robots. Journal of Mechanical Design 129, 1251–1255 (2007)

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Author information

Authors and Affiliations

  1. School of Mechanical Engineering and Automation, Xihua University, Chengdu, P.R. of China

    Kang Luo, Cheng-zhong Deng, Jin-ge Wang & Qiang Wang

Authors
  1. Kang Luo
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  2. Cheng-zhong Deng
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  3. Jin-ge Wang
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  4. Qiang Wang
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Editor information

Editors and Affiliations

  1. School of Mechanical Science and Engineering, Huazhong University of Science and Technology, 430074, Wuhan, China

    Caihua Xiong

  2. The Institute of Industrial Research, University of Portsmouth, UK

    Honghai Liu

  3. School of Mechanical Science and Engineering, Huazhong University of Science and Technology, 430074, Wuhan, P. R. China

    Yongan Huang  & Youlun Xiong  & 

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© 2008 Springer-Verlag Berlin Heidelberg

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Luo, K., Deng, Cz., Wang, Jg., Wang, Q. (2008). Coriolis Moments in Manipulators: Demonstrative Experiment and Mathematical Analysis. In: Xiong, C., Liu, H., Huang, Y., Xiong, Y. (eds) Intelligent Robotics and Applications. ICIRA 2008. Lecture Notes in Computer Science(), vol 5315. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-88518-4_123

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  • DOI: https://doi.org/10.1007/978-3-540-88518-4_123

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-88516-0

  • Online ISBN: 978-3-540-88518-4

  • eBook Packages: Computer ScienceComputer Science (R0)

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