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This monograph is devoted to the research issues concerning a type of geared robots which are the most common in industrial practice. These robots are used, for example, on car industry assembly lines and in a variety of industrial applications. By a geared robot we mean a robot with drive systems which are connected with links via gear mechanisms. Therefore each motor drives a link not directly but via a gear . These types of robots are described in detail in this monograph. We present the programming system, problems of formulating equations of motion describing their dynamical behaviour in time and identification of dynamic parameters which appear in the equations of motion.
KeywordsIntegral Model Dynamic Parameter Industrial Robot Friction Torque Gear Transmission
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