publication . Article . 2015

Analytical and Numerical Model of Low DOF Manipulators

Forgó, Zoltán; Tolvaly-Roşca, Ferenc;
Open Access
  • Published: 01 Jan 2015 Journal: Procedia Technology, volume 19, pages 40-47 (issn: 2212-0173, Copyright policy)
  • Publisher: Elsevier BV
Abstract The paper introduces the use of a novel drive module with one translational and one rotational degree of freedom. The mechanism of the presented system has a timing belt setup, which enables a parallel drive of two DOF. Based on this mechanism the possibilities to build a low (2, 3 and 4) DOF manipulator are systematic presented, followed by the mathematical models for the geometry and kinematics. The advantages of the new mechanisms are underlined by presenting numerical results.
arXiv: Computer Science::Robotics
ACM Computing Classification System: ComputingMethodologies_COMPUTERGRAPHICS
free text keywords: Degrees of freedom (statistics), Control theory, Engineering, business.industry, business, Timing belt, law.invention, law, Mathematical model, Kinematics, Control engineering, Manipulator, parallel mechanism, parallel drive system, robot.
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