Kinematic and Dynamic Synthesis of Geared Robotic Mechanisms
dc.contributor.author | Chen, Dar-Zen | en_US |
dc.contributor.author | Tsai, Lung-Wen | en_US |
dc.contributor.department | ISR | en_US |
dc.date.accessioned | 2007-05-23T09:45:17Z | |
dc.date.available | 2007-05-23T09:45:17Z | |
dc.date.issued | 1990 | en_US |
dc.description.abstract | This paper describes a methodology for the design of geared robotic mechanisms. We have shown that certain gear-coupled manipulators can be designed to possess an isotropic condition at a given end-effector position. For these gear-coupled manipulators, the train values can be treated as a product of two-stage gear reductions. The second-stage reduction can be uniquely determined from the kinematic isotropic condition, while the first-stage reduction can be determined from dynamic consideration. This approach, through proper choice of gear ratios, can provide these gear-coupled manipulators with desired kinematic and dynamic characteristics. | en_US |
dc.format.extent | 652484 bytes | |
dc.format.mimetype | application/pdf | |
dc.identifier.uri | http://hdl.handle.net/1903/4968 | |
dc.language.iso | en_US | en_US |
dc.relation.ispartofseries | ISR; TR 1990-18 | en_US |
dc.subject | Intelligent Servomechanisms | en_US |
dc.title | Kinematic and Dynamic Synthesis of Geared Robotic Mechanisms | en_US |
dc.type | Technical Report | en_US |
Files
Original bundle
1 - 1 of 1