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TECHNICAL PAPERS

Fabrication of Non-Assembly Mechanisms and Robotic Systems Using Rapid Prototyping

[+] Author and Article Information
Constantinos Mavroidis, Kathryn J. DeLaurentis, Jey Won, Munshi Alam

Robotics and Mechatronics Laboratory, Department of Mechanical and Aerospace Engineering, Rutgers University, The State University of New Jersey, 98 Brett Rd., Piscataway, NJ 08854-8058

J. Mech. Des 123(4), 516-524 (Aug 01, 2000) (9 pages) doi:10.1115/1.1415034 History: Received August 01, 2000
Copyright © 2001 by ASME
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References

Figures

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Stereolithography joint fabrications
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Revolute joint built with SL (all dimensions are in mm)
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Type I of spherical joint built with SL (all dimensions are in mm)
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Type II of spherical joints built with SL (all dimensions are in mm)
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Prismatic joint built with SL (all dimensions are in mm)
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Universal joint built with SL
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Views of (a) modified socket and (b) modified ball
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Modified spherical “Knuckle” joint
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A leg of the parallel manipulator
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Three legged parallel manipulator
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CAD rendering of robotic hand
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CAD view of a robotic finger
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Cable channels in SLS finger
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Robotic finger built with SLS and actuated with SMA wires
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Brief comparison of two RP processes
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Summary of experimental results

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