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RESEARCH PAPERS: Mechanisms Papers

A Linkage Design for Direct-Drive Robot Arms

[+] Author and Article Information
Haruhiko Asada, Il Hwan Ro

Department of Mechanical Engineering, Laboratory for Manufacturing and Productivity, Massachusetts Institute of Technology, Cambridge, Mass. 02139

J. Mech., Trans., and Automation 107(4), 536-540 (Dec 01, 1985) (5 pages) doi:10.1115/1.3260760 History: Received February 25, 1985; Online November 19, 2009

Abstract

A new approach to manipulator link mechanism design is presented. Given torque-speed characterisics of actuators and an arm link mechanism, the resultant force-speed characteristics at the tip of the arm are analyzed. The link mechanism is optimized so that the end point speed and force are within appropriate ranges. This method is applied to a two-degree-of-freedom direct-drive arm. Direct-drive arms, in general, tend to have excessively fast operating ranges, whereas output forces are extremely small. A closed-loop five-bar-link mechanism is applied to the direct-drive arm, and the link dimensions are optimized in order to achieve appropriate force and speed ranges at the arm tip without using reducers.

Copyright © 1985 by ASME
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