B59DE/B59DF

Fundamental static analysis of robots

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

To analyze the required

force (torque) of actuators
To calculate the reaction
force (moment) of joints
1. Static analysis of robots

Frame design & force analysis

 2. Static analysis of planar robots
Calculate
the reaction force of a joint and actuation torque
using the approach that you have learned in Mech Sci
Equilibrium condition of link 1
3. Cross product of vectors

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

World coordinate frame

Link-fixed frame (preferred)

 Calculation of reaction force/moment

For revolute joints Selection

of bearings
Selection of motors
 Calculation of reaction force/moment

Selection
Selection of motors of bearings
& structure
design
For prismatic joints
Exercise: static analysis of a spatial 3R robot