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RESEARCH PAPERS: Mechanisms Papers

Kinematic and Dynamic Synthesis of Geared Robotic Mechanisms

[+] Author and Article Information
Dar-Zen Chen, Lung-Wen Tsai

Mechanical Engineering Department and Systems Research Center, The University of Maryland, College Park, MD 20742

J. Mech. Des 115(2), 241-246 (Jun 01, 1993) (6 pages) doi:10.1115/1.2919183 History: Received March 01, 1990; Online June 02, 2008

Abstract

This paper describes a methodology for the design of geared robotic mechanisms. It is shown that certain gear-coupled manipulators can be designed to possess kinematic isotropy property 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 conditions, while the first-stage reduction can be determined from dynamic considerations. This approach, through proper choice of gear ratios, can provide these gear-coupled manipulators with desired kinematic and dynamic characteristics.

Copyright © 1993 by The American Society of Mechanical Engineers
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