On The Conceptual Design of A Novel Class of Robot Configurations.

Loading...
Thumbnail Image

Files

TR_88-50.pdf (557.64 KB)
No. of downloads: 1006

Publication or External Link

Date

1988

Advisor

Citation

DRUM DOI

Abstract

The conceptual design has been investigated of the kinematic structure of relatively small robots with positive, rigid-body drive elements of minimum complexity in order to maximize rigidity, minimize vibrations and response time and optimize payload. Several novel robot configurations have been conceived and their displacement analysis and static torque analysis derived directly from their kinematic structure. It is believed that these configurations can be advantageous in the design of high-performance robots relative to current designs involving cables and push/pull elements.

Notes

Rights