RESEARCH PAPERS: Robotic Manipulator and Mechanisms Papers

Some Kinematic Structures for Robot Manipulator Designs

[+] Author and Article Information
C. F. Earl, J. Rooney

Design Discipline, Open University, Milton Keynes, U.K.

J. Mech., Trans., and Automation 105(1), 15-22 (Mar 01, 1983) (8 pages) doi:10.1115/1.3267337 History: Received June 11, 1982; Online November 19, 2009


Some kinematic structures suitable for use in robot manipulator designs are constructed in terms of components. General properties of kinematic structures are considered and a method for combining two structures given. Two types of component, namely actuation and distribution components, are specified. Modification of the kinematic structures is effected by transfer of drives. Existing designs for robot manipulators are examined in terms of their kinematic structures and some new designs are generated.

Copyright © 1983 by ASME
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