NDLI: Design of Under-Actuated Open-Chain Planar Robots for Repetitive Cyclic Motions

Content Provider	The American Society of Mechanical Engineers (ASME) Digital Collection
Author	Sunil, K. Agrawal Sangwan, Vivek
Copyright Year	2006
Abstract	Under-actuated systems are unavoidable in certain applications. For example, a biped can not have an actuator between the foot and the ground. For industrial robots, underactuation is preferable due to cost considerations. A fully actuated system can execute any joint trajectory. However, if the system is under-actuated, not all joint trajectories are attainable. For such systems, it is difficult to characterize attainable joint trajectories analytically and numerical methods are generally used to characterize them. This paper investigates the property of differential flatness for under-actuated planar open chain robots and study its dependence on inertia distribution within the system. Once this property is established, trajectory between any two points in its differentially flat output space is feasible and can be shown to be consistent with the dynamics of the under-actuated system. It is shown that certain choices of inertia distributions make an under-actuated open-chain planar robot with revolute joints feedback linearizable, i.e., also differentially flat. Hence, both cyclic and point to point trajectories can be guaranteed with these under-actuated systems. The methodology proposed is demonstrated with an under-actuated three degree-of-freedom planar robot.
Sponsorship	Design Engineering Division and Computers and Information in Engineering Division
Starting Page	1057
Ending Page	1066
Page Count	10
File Format	PDF
ISBN	0791842568
DOI	10.1115/DETC2006-99736
e-ISBN	079183784X
Volume Number	Volume 2: 30th Annual Mechanisms and Robotics Conference, Parts A and B
Conference Proceedings	ASME 2006 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
Language	English
Publisher Date	2006-09-10
Publisher Place	Philadelphia, Pennsylvania, USA
Access Restriction	Subscribed
Subject Keyword	Design Chain Actuators Degrees of freedom Inertia (mechanics) Numerical analysis Dynamics (mechanics) Feedback Trajectories (physics) Robots
Content Type	Text
Resource Type	Article

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