Dynamic Load Carrying Capacity of Mechanical Manipulators—Part I: Problem Formulation

[+] Author and Article Information
L. T. Wang, B. Ravani

Department of Mechanical Engineering, University of Wisconsin-Madison, Madison, WI 53706

J. Dyn. Sys., Meas., Control 110(1), 46-52 (Mar 01, 1988) (7 pages) doi:10.1115/1.3152647 History: Received July 28, 1987; Online July 21, 2009


Two types of problems associated with load carrying capacity of robot manipulators are studied. The first type of problem involves determining the maximum load carrying capacity of a robot manipulator given a dynamic robot trajectory. The second problem involves synthesizing point-to-point dynamic robot motions with optimum load carrying capacities. In this Part I of the paper, the first type problem and the formulation of the second type problem are presented. A computational procedure for obtaining numerical solutions to the second type problem together with the application of the results to advanced trajectory synthesis and classification of multi-degree-of-freedom robot manipulators are given in the companion Part II of the paper.

Copyright © 1988 by ASME
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