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TECHNICAL PAPERS

A New Polynomial Solution to the Geometric Design Problem of Spatial R-R Robot Manipulators Using the Denavit and Hartenberg Parameters

[+] Author and Article Information
Constantinos Mavroidis, Eric Lee, Munshi Alam

Robotics and Mechatronics Laboratory, Department of Mechanical and Aerospace Engineering, Rutgers University, The State University of New Jersey, 98 Brett Rd., Piscataway, NJ 08854

J. Mech. Des 123(1), 58-67 (Oct 01, 1999) (10 pages) doi:10.1115/1.1335484 History: Received October 01, 1999
Copyright © 2001 by ASME
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References

Figures

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Denavit and Hartenberg parameters
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R-R open loop spatial manipulator
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R-R spatial manipulator corresponding to solution 1
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R-R spatial manipulator corresponding to solution 2
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Line diagram and DH frames of the two R-R manipulators and of the four-bar linkage formed by their four axes

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