Please use this identifier to cite or link to this item: https://doi.org/10.2316/P.2012.785-032
Title: Passive dynamic analysis: Motivation for use and method extension
Authors: Short, J.S.
Poo, A.-N. 
Ang Jr., M.H. 
Lim, C.W.
Keywords: Passive dynamic
Robot
Serial link manipulator
Series damper actuator
Series elastic actuator
Under-actuated
Issue Date: 2012
Source: Short, J.S.,Poo, A.-N.,Ang Jr., M.H.,Lim, C.W. (2012). Passive dynamic analysis: Motivation for use and method extension. Proceedings of the IASTED International Conference on Engineering and Applied Science, EAS 2012 : 149-156. ScholarBank@NUS Repository. https://doi.org/10.2316/P.2012.785-032
Abstract: The field of serial link manipulators can find great benefit from recently developed analysis and design methods in the area of passive dynamics. This paper first uses a literature review to outline an increasing emphasis in research and development towards greater use of passive dynamic methods. Second, a method extension allowing for passive behavior analysis of serial link manipulators, simulated on a two-link robot, will demonstrate the usefulness of such methods. The extension itself will allow for greater investigation into the passive dynamics of serial link manipulators, allowing for characteristics such as actuator efficiency and overall bandwidth capabilities to be analyzed during force and motion tasks. The information presented in this paper will contribute to the passive dynamic methods available as well as promote further investigation into the field of research.
Source Title: Proceedings of the IASTED International Conference on Engineering and Applied Science, EAS 2012
URI: http://scholarbank.nus.edu.sg/handle/10635/73746
ISBN: 9780889869523
DOI: 10.2316/P.2012.785-032
Appears in Collections:Staff Publications

Show full item record
Files in This Item:
There are no files associated with this item.

Page view(s)

36
checked on Jan 20, 2018

Google ScholarTM

Check

Altmetric


Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.