Papers Published

  1. Garg, Devendra P. and Shankar, Srinivasa Ravi, END POINT DEFLECTION STUDIES OF THE GE P-50 ROBOT., Modeling and Simulation, Proceedings of the Annual Pittsburgh Conference, vol. 17 no. pt 5 (1986), pp. 1729 - 1731 .
    (last updated on 2007/04/10)

    Robots with harmonic drives have low joint stiffnesses which can cause significant end point deflections. The total end point deflection depends on the orientation of the links of the robot. Based on this property, regions of the workspace can be identified where the deflection is below a specified maximum value. Flexibility in harmonic drives lead to reasonance at low frequencies. In various manufacturing operations, e. g. , welding, the end point is subjected to dynamic loads. A control of end point deflections becomes crucial in such cases. A spring-mass-damper model was developed to study the effect of dynamic loads on the robot end effector. It was found that significantly high end point deflections are caused by dynamic loads leading to performance degradation.