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Fundamental: Static Analysis of Robots Dr. X.Kong X.Kong@hw - Ac.uk
Fundamental: Static Analysis of Robots Dr. X.Kong X.Kong@hw - Ac.uk
Dr. X.Kong
X.Kong@hw.ac.uk
1. Static analysis of robots
2. Static analysis of planar robots
3. Cross product of vectors
4. Static analysis of spatial robots
1. Static analysis of robots
Exercise
Example
4. Static analysis of spatial robots: vector approach
Calculate
the reaction force and moment of a joint using the
vector approach
Using the equations in the previous slide, static analysis of a spatial
Robot can be carried out joint-by-joint. You may use
world coordinate frame or link-fixed frame
Selection
Selection of motors of bearings
& structure
design
For prismatic joints
Exercise: static analysis of a spatial 3R robot