Design Considerations for an Earth Based Flexible Robotic System

reportActive / Technical Report | Accession Number: ADA209635 | Open PDF

Abstract:

This paper provides insights into the problems of designing a robot with joint and link flexibility. The relationship between the deflection of the robot under gravity is correlated with the fundamental frequency of vibration. The authors consider different types of link geometry and evaluate the flexibility potential of different materials. Some general conclusions and guidelines for constructing a flexible robot are given. Keywords Vibration Gravity loading Arms.

Author(s):
Christian, Andrew D. ; Seering, Warren P.
Author Organization(s):
MASSACHUSETTS INST OF TECH CAMBRIDGE ARTIFICIAL INTELLIGENCE LAB
Descriptive Note:
Memorandum rept.
Supplementary Note:
DOI: 10.21236/ADA209635
Pagination:
0018

Security Markings

DOCUMENT & CONTEXTUAL SUMMARY

Distribution:
Approved For Public Release
Distribution Statement:
Approved For Public Release; Distribution Is Unlimited.

RECORD

Collection: TR
Identifying Numbers
Report Number(s):
AI-MEMO-1115
Contract/Grant Number(s):
N00014-86-K-0685
Monitor Series:
DARPA
 Subject Terms
Joint Capability Areas:
JCA_1_Force Support; JCA_1.2_Force Preparation; JCA_4.6.1_General Engineering; JCA_4.6_Engineering; JCA_5_Command and Control; JCA_5.3_Planning
Modernization Areas:
Autonomy
Communities of Interest:
Autonomy
Descriptor(s):
*SYSTEMS APPROACH, *ROBOTICS, SYSTEMS ENGINEERING, JOINTS, DEFLECTION, GEOMETRY, GRAVITY, VIBRATION, FREQUENCY, ROBOTS
Field(s)/Group(s):
Cybernetics
Report Date:
1989 Apr 01