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ICRA
2000
IEEE

Mechanism Synthesis Theory and the Design of Robots

14 years 3 months ago
Mechanism Synthesis Theory and the Design of Robots
The synthesis theory for spatial linkage systems can be formulated in a way that is compatible with the geometric design of serial and parallel chain robotic systems. Mechanism design generally seeks exact solutions for a finite approximation to the trajectory of a moving frame. In contrast, robots must have a sixdegree-of-freedom workspace with specific characteristics such as shape and size. This paper describe an inventor’s environment that fit these workspaces to a designers specification. Current results yield the fivedegree-of-freedom TS robot and four-degree-of-freedom CC robot that fit a desired continuous task.
J. Michael McCarthy
Added 31 Jul 2010
Updated 31 Jul 2010
Type Conference
Year 2000
Where ICRA
Authors J. Michael McCarthy
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