RESEARCH PAPERS: Robotics and Related Mechanisms Papers

A Theory for the Articulation of Planar Robots: Part I—Kinematic Analysis for the Flexure and the Parallel Operation of Robots

[+] Author and Article Information
L. Young

University of Florida, Gainesville, FL 32611

J. Duffy

Center for Intelligent Machines and Robotics, University of Florida, Gainesville, FL 32611

J. Mech., Trans., and Automation 109(1), 29-36 (Mar 01, 1987) (8 pages) doi:10.1115/1.3258781 History: Received July 01, 1986; Online November 19, 2009


This paper is the first of a series of papers developing a theory for the articulation of planar robots. Here, end effectors are considered to be moving on specified trajectories regardless of orientation, which is considered to be a free parameter, and which together with the remaining link orientations can be used to flex and hence articulate the arms to avoid interference. The theory is based on the geometry of the robots and workspace structures. An affine transformation is introduced for determining the relative location of pairs of links which are modeled by line segments.

Copyright © 1987 by ASME
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