Synthesis and Analysis of Geared Robotic Mechanisms.

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dc.contributor.authorChang, Sun-Laien_US
dc.contributor.authorTsai, Lung-Wenen_US
dc.contributor.departmentISRen_US
dc.date.accessioned2007-05-23T09:42:29Z
dc.date.available2007-05-23T09:42:29Z
dc.date.issued1988en_US
dc.description.abstractIn 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.en_US
dc.format.extent693421 bytes
dc.format.mimetypeapplication/pdf
dc.identifier.urihttp://hdl.handle.net/1903/4831
dc.language.isoen_USen_US
dc.relation.ispartofseriesISR; TR 1988-105en_US
dc.titleSynthesis and Analysis of Geared Robotic Mechanisms.en_US
dc.typeTechnical Reporten_US

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