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
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.
Subjects
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.
Related Organizations
Powered by OpenAIRE Research Graph
Any information missing or wrong?Report an Issue