Abstract
This paper proposes the buffering indices for evaluating the capacity of robot manipulators to comply with unpredictable and heavy external loads. According to the roles of mechanical components, a robot is divided into two parts: the buffering structure and the protected structure. The proposed indices are based on the energy distribution between these parts when they are in contact with the environment. Two indices are proposed: the Static Buffering Index (SBI) which reveals the ratio of the energy distributed in the buffering structure to the whole system under a specified configuration and the Kineto-static Buffering Index (KBI) reflects energy distribution along a predefined trajectory. The general stiffness mapping of robots with both flexible actuators and linkages is developed for the calculation of these indices. In the end, a heavy forging manipulator is studied as an example, and some numerical results are provided to demonstrate the invariance of the indices.
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Wang, H., Lin, Z., Zhao, K., Chen, G. (2010). Buffering Indices for Robot Manipulators Based on the Energy Distribution. In: Liu, H., Ding, H., Xiong, Z., Zhu, X. (eds) Intelligent Robotics and Applications. ICIRA 2010. Lecture Notes in Computer Science(), vol 6425. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-16587-0_23
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DOI: https://doi.org/10.1007/978-3-642-16587-0_23
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