The Generalized Principle of Inertia Match for Geared Robotic Mechanisms

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dc.contributor.authorChen, Dar-Zenen_US
dc.contributor.authorTsai, Lung-Wenen_US
dc.contributor.departmentISRen_US
dc.date.accessioned2007-05-23T09:46:18Z
dc.date.available2007-05-23T09:46:18Z
dc.date.issued1990en_US
dc.description.abstractIn this paper, the principle of inertia match has been extended from one degree-of-freedom system to multi-degree-of-freedom systems. Based on the concept of maximum acceleration capacity, we have developed a methodology for the determination of gear ratios in geared robotic mechanisms. We have shown that at the optimum design, the mass inertia matrix of the input links reflected at the joint-space is equal to that of the major links, and the maximum acceleration capacity is independent of the gear train arrangement. Several two degree-of-freedom geared robotic mechanisms have been used as design examples to illustrated the principle. Using this methodology, mechanisms can be designed to yield optimum dynamic performance.en_US
dc.format.extent768585 bytes
dc.format.mimetypeapplication/pdf
dc.identifier.urihttp://hdl.handle.net/1903/5010
dc.language.isoen_USen_US
dc.relation.ispartofseriesISR; TR 1990-62en_US
dc.subjectroboticsen_US
dc.subjectdynamic synthesisen_US
dc.subjectIntelligent Servomechanismsen_US
dc.titleThe Generalized Principle of Inertia Match for Geared Robotic Mechanismsen_US
dc.typeTechnical Reporten_US

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