RESEARCH PAPERS: Robotic Manipulator and Mechanisms Papers

Analysis of Five-Degree-of-Freedom Robot Arms

[+] 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, Fla. 32511

J. Mech., Trans., and Automation 105(1), 23-27 (Mar 01, 1983) (5 pages) doi:10.1115/1.3267339 History: Received February 25, 1982; Online November 19, 2009


Many kinds of robot arms with five degrees of freedom are widely used in industry for arc welding, spray painting, assembling etc. It is necessary to be able to compute joint displacements when such devices are computer controlled. A solution to this problem is presented and the analysis is illustrated by a numerical example using the most common industrial robot with five axes. Further, special cases are discussed using screw theory.

Copyright © 1983 by ASME
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