RESEARCH PAPERS: Mechanisms and Design Automation Papers

Determination of Extreme Distances of a Robot Hand. Part 2: Robot Arms With Special Geometry

[+] Author and Article Information
K. Sugimoto

Production Engineering Research Laboratory, Hitachi, Ltd., Japan

J. Duffy

Center for Intelligent Machines and Robotics, University of Florida, Gainesville, FL 32511

J. Mech. Des 103(4), 776-783 (Oct 01, 1981) (8 pages) doi:10.1115/1.3254987 History: Received June 01, 1980; Online November 17, 2009


The algorithm developed in [1] for searching for extreme distance lines of robot arms with arbitrary skew joint axes can fail when applied to arms with special geometry. In this paper, procedures are developed to search for extreme distance lines of robot arms with intersecting or parallel axes. Such cases have important practical application. It is demonstrated that a robot arm with geometry common to industrial arms such as Cincinnati Milacron, Hitachi (Japan), Trallfa (Norway), Puma (Unimation), ASEA (Sweden), Volkswagen and Kuka (Germany) has a total of sixty-four extreme distances.

Copyright © 1981 by ASME
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