Dynamic load-carrying capacity of mobile-base flexible joint manipulators

A computational technique for obtaining the maximum load-carrying capacity of robotic manipulators with joint elasticity is described while different base positions are considered. The maximum load-carrying capacity which can be achieved by a robotic manipulator during a given trajectory is limited by a number of factors. Probably the most important factors are the actuator limitations, joint elasticity (transmissions, reducers and servo drive system) and relative configuration of the robot with respect to its base. Therefore, both actuator torque capacity constraint considering typical torque-speed characteristics of DC motors and trajectory accuracy constraints considering a series of spherical bounds centred at each desired trajectory are applied as the main constraints. For the desired trajectory of load, different base locations are considered. It is seen that the load-carrying capacity at different base positions is different due to distinct dynamic effects of links and load motions on joint actuators. Then, a general computational algorithm for a multi-link case on a given trajectory and different base location is laid out in detail. Finally, two numerical examples involving a two-link manipulator and a PUMA robot using the method are presented. The obtained results illustrate the effect of base location, dual actuator torque and end effector precision constraints on load-carrying capacity on a given trajectory .