Experimental Research on the Influence of Size Ratio on the Effector Movement of the Manipulator with a Large Working Area

Abstract

More and more commonly, manipulators and robots equipped with effectors are used to replace humans in the implementation of tasks that require significant working abilities or are used in dangerous zones. These constructions have considerable ranges and are capable of carrying heavy loads. The specificity of the tasks performed with the use of mentioned devices requires their control by a human. Intuitive tracking systems are used to control them. Problems in their use result from the kinematic amplification between the effector and the operator’s hand. Proper design of the drive and control systems for these manipulators requires knowledge of the maximum velocities of the manipulator’s effectors, which significantly depend on the scale ratio. The article presents the results of the effector’s velocity movements while performing a specific task by the operator’s hand with different velocities and scale ratios.

Keywords

• manipulator control
• human hand movements
• effector velocity
• operator perception
• size ratio