A method to calculate working capacity space of multi-DOF manipulator and the application in excavating mechanism

doi:10.1007/s11465-012-0323-6

Front Mech Eng

2012, Vol. 7

Issue (2) : 109-119 https://doi.org/10.1007/s11465-012-0323-6

RESEARCH ARTICLE

A method to calculate working capacity space of multi-DOF manipulator and the application in excavating mechanism

Baochen WEI, Feng GAO(

)

State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, Shanghai 200240, China

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Abstract

Working capacity refers to the velocity output and force output of a manipulator. It is usually be represented by output capacity space. In this paper, the method of Linear Programming and a geometric method are proposed to calculate working capacity spaces in different situations. With the consideration of gravity effect of every component, the output force capacity space of heavy duty manipulators is calculated. The results show that the effect of the gravity is a translation of the capacity space. This paper gives a method for the output capacity express especially for heavy duty manipulators. The output capacity space can be helpful to the driving parameters selection. With the consideration of the gravity effect of every component and the friction at the joints, the excavating force capacity space of the heavy-load excavating mechanism is calculated and is represented as a multi-dimensional polytope. The results show that the effect of the gravity and friction is to translational act on the capacity space.

Keywords working capacity multi-DOF manipulator capacity polytope excavating mechanism

Corresponding Author(s): GAO Feng,Email:fengg@sjtu.edu.cn

Issue Date: 05 June 2012

Cite this article:

Baochen WEI,Feng GAO. A method to calculate working capacity space of multi-DOF manipulator and the application in excavating mechanism[J]. Front Mech Eng, 2012, 7(2): 109-119.

URL:

https://academic.hep.com.cn/fme/EN/10.1007/s11465-012-0323-6
https://academic.hep.com.cn/fme/EN/Y2012/V7/I2/109

Fig.1 Manipulability ellipsoid and manipulability polytope.(a)Manipulability ellipsoid approch; (b) Manipulability polytope approach

Fig.2 Translational velocity capacity polytope in 2-dimensional case

Fig.3 Rotational velocity capacity polytope in 2-dimensional case

Fig.4 Translational capacity polytope of 6-DOF manipulator

Fig.5 Translational capacity ellipsoid of 6-DOF manipulator

Fig.6 3-hybrid-DOF representation in 3D space

Fig.7 Force capacity polytope of 3-DOF planar manipulator

Fig.8 Electric mining shovel. (a)Electric shovel with traditional excavating mechanism; (b) electric shovel with new exavating mechanism

Fig.9 Diagram of 3-DOF excavating mechanism

Fig.10 Driving input force space of the 3-DOF excavating mechanism

Fig.11 Force output ablity of the excavating mechanism

Fig.12 The effect of gravity on the output force/torque ability polytope

Tab.1 Working parameters of the excavating process

Tab.2 The configurations in the simulation

Fig.13 Diagram of the configurations in simulation

Fig.14 Excavating ability in different configurations of the mechanism

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