Static Force Analysis Of Kinematically Redundant Serial Manipulators Along With Actuator Weight Compensation

Abstract

Dynamic modelling of a serial manipultor is a challenging task, complexity of the problem increases with increase in number of links in serial manipulator system. But, problem becomes more critical, if the actuator weight compensation is taken into account. In this thesis, MATLAB code is developed to generate the dynamic model of serial manipulators with any number of degrees-of-freedom or links. Taking actuator weight compensation into account, a lookup table is developed, which is helpful in selecting the appropriate actuator at each joint axis. Static force analysis is done on the solid model generated, using Solid Works, to caculate stress, strain and deflection. Static force analysis is done for various cases like, wihtout actuator weight compensation, with actuator weight compensation and changing orientation of the actuators. Moreover, the worst configuration torque values are compared with three random configurations, which proves that static force analysis done at worst configuration is sufficient to draw conclusion for the whole system.