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Joint Torque Reduction of a Three Dimensional Redundant Planar Manipulator
Center of Research in Applied Electronics (CRAE), University of Malaya, Kuala Lumpur 50603, Malaysia
Faculty of Electrical and Computer Engineering, University of Tehran, P.O. Box 14399-57131, Tehran, Iran
Department of Electrical & Electronic Engineering, University of Nottingham Malaysia, Jalan Broga, Semenyih 43500, Malaysia
* Author to whom correspondence should be addressed.
Received: 1 April 2012; in revised form: 2 May 2012 / Accepted: 22 May 2012 / Published: 25 May 2012
Abstract: Research on joint torque reduction in robot manipulators has received considerable attention in recent years. Minimizing the computational complexity of torque optimization and the ability to calculate the magnitude of the joint torque accurately will result in a safe operation without overloading the joint actuators. This paper presents a mechanical design for a three dimensional planar redundant manipulator with the advantage of the reduction in the number of motors needed to control the joint angle, leading to a decrease in the weight of the manipulator. Many efforts have been focused on decreasing the weight of manipulators, such as using lightweight joints design or setting the actuators at the base of the manipulator and using tendons for the transmission of power to these joints. By using the design of this paper, only three motors are needed to control any n degrees of freedom in a three dimensional planar redundant manipulator instead of n motors. Therefore this design is very effective to decrease the weight of the manipulator as well as the number of motors needed to control the manipulator. In this paper, the torque of all the joints are calculated for the proposed manipulator (with three motors) and the conventional three dimensional planar manipulator (with one motor for each degree of freedom) to show the effectiveness of the proposed manipulator for decreasing the weight of the manipulator and minimizing driving joint torques.
Keywords: redundant manipulator; dynamics; robot; rotary encoders; joint torques reduction
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MDPI and ACS Style
Yahya, S.; Moghavvemi, M.; Almurib, H.A.F. Joint Torque Reduction of a Three Dimensional Redundant Planar Manipulator. Sensors 2012, 12, 6869-6892.
Yahya S, Moghavvemi M, Almurib HAF. Joint Torque Reduction of a Three Dimensional Redundant Planar Manipulator. Sensors. 2012; 12(6):6869-6892.
Yahya, Samer; Moghavvemi, Mahmoud; Almurib, Haider Abbas F. 2012. "Joint Torque Reduction of a Three Dimensional Redundant Planar Manipulator." Sensors 12, no. 6: 6869-6892.