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Operation of a Two-Handed Robot with Contact of the Working Links

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Abstract

The forces generated by the drives of the working links are calculated for a robot with two manipulators, each with three degrees of freedom. By a vector method and matrix transformation of the vector coordinates, the forces are determined for the drives of translational and rotary kinematic pairs, in operations with contact of the working links.

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REFERENCES

  1. Glazunov, V.A., Lastochkin, A.B., Shalyukhin, K.A., and Danilin, P.O., Analysis and classification of relative manipulation devices, J. Mach. Manuf. Reliab., 2009, vol. 38, no. 4, pp. 379–382.

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  2. Vorob’ev, E.I. and Khatuntsev, D.O., Two-handed robot. Construction features of the movement control algorithms, Avtom. Sovrem. Tekhnol., 2016, no. 3, pp. 19–23.

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Funding

Financial support was provided by the Russian Foundation for Basic Research (project 19-08-00775).

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Authors and Affiliations

  1. Blagonravov Institute of Mechanical Engineering, Russian Academy of Sciences, Moscow, Russia

    E. I. Vorob’ev

Authors
  1. E. I. Vorob’ev
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Correspondence to E. I. Vorob’ev.

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Translated by B. Gilbert

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Vorob’ev, E.I. Operation of a Two-Handed Robot with Contact of the Working Links. Russ. Engin. Res. 41, 101–103 (2021). https://doi.org/10.3103/S1068798X21020209

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  • DOI: https://doi.org/10.3103/S1068798X21020209

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