Synthesis and Analysis of Geared Robotic Mechanisms.

Abstract

In this paper we introduce the concept of transmission lines for kinematic analysis and synthesis of geared robotic mechanisms. It is shown that the structural matrix, which relates input displacements to the joint angles of a multi-degree-of-freedom geared robotic mechanism, can be derived using the concept of transmission lines. Applying the characteristics of structural matrix, a new methodology for structural synthesis of articulated mechanisms has been established. All the basic admissible structural matrices of three-degree-of-freedom robotic mechanisms have been enumerated to demonstrate the principle. Several arm and wrist mechanisms created are believed to be new and novel.