(Georgia Institute of Technology, 1977)
Book, Wayne J.
The restrictions imposed on arm performance by strength and stiffness, constraints are characterized as limitations on the gross and fine motion speeds, respectively. The implications of the constraints are explored for a simplified manipulator. When stiffness requirements dominate gross motion speed may be traded for fine motion speed, indicating an optimal ratio of the two may exist. To improve performance in both areas, improved fine motion control is valuable. Arm specifications: payload mass and acceleration, arm length, and gravity forces; technological factors: allowable stress, elastic modulus, and control algorithm capability; and geometry are related to the tradeoff by a power law.