The Theoretical Basis for the Mechanical Aspects of Robot Design
This paper considers the basic concepts and tools that have been developed for robot design. Many of these concepts have been adapted from classical mechanical design, and some are newly developed for robotic systems. Taken all together, there i s now a very large body of results and theory available to the robot designer and analyst. This paper presents an overview of the current state of knowledge regarding the mechanical aspects of robot design. The main objective of this presentation is to develop a framework into which piecemeal and disparate results can combined to provide a theoretical basis which supplements the empirical aspects of the subject with a coherent theory.
KeywordsRobotic System Sliding Mode Mechanical Aspect Robotic Device Coherent Theory
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