RESEARCH PAPERS: Mechanisms Papers

On the Conceptual Design of a Novel Class of Robot Configurations

[+] Author and Article Information
Lung-Wen Tsai

University of Maryland, College Park, MD 20742

Ferdinand Freudenstein

Columbia University, New York, NY 10027

J. Mech., Trans., and Automation 111(1), 47-53 (Mar 01, 1989) (7 pages) doi:10.1115/1.3258970 History: Received July 21, 1988; Online November 19, 2009


The conceptual design has been investigated for the kinematic structure of relatively small robots with positive, rigid-body drive elements of minimum complexity in order to maximize rigidity, minimize vibrations and response time and optimize payload. Several novel robot configurations have been conceived and their displacement analysis and static torque analysis derived directly from their kinematic structure. It is believed that these configurations can be advantageous in the design of high-performance robots relative to current designs involving cables and push/pull elements.

Copyright © 1989 by ASME
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