On power requirements of an articulated robotic arm

الملخص EN

Angular velocity and torque requirements of an articulated robotic arm, comprising an assembly of three links and three revolute joints, are considered.

To ascertain the influence of link lengths on angular velocity requirements, kinematic relationships are established, and velocity-orientation surfaces are presented for selected tip speeds.

Furthermore, general expressions are presented for determining torque requirements at the joints of the arm.

The results are applied to a selected set of robot and motion specifications.