Romansy 13 pp 147-154 | Cite as

Design of Spatial Fixed-Sequence Manipulator for Precise and Approximate Reproduction of Gripper Predetermined Positions

  • Vigen Arakelian
  • Marc Dahan
Conference paper
Part of the International Centre for Mechanical Sciences book series (CISM, volume 422)


The synthesis of manipulation systems by the predetermined positions of the gripper is one problem of the most actual in modem robotics. One of the methods used to solve this problem is the creating one degree-of-freedom actuators with open kinematic chain allowing for either a precise reproduction of a limited number of gripper predetermined positions or an approximate reproduction of an unlimited number of gripper predetermined positions.

In the present work, such an approach has been developed and a spatial fixed-sequence manipulator designing method is examined based upon the well-known kinematic synthesis methods. We did not trait in details the methods of kinematic synthesis, as our objective is to show how can be used the results of these methods for designing one degree-of-freedom spatial manipulation systems reproducing the gripper predetermined positions.


Revolute Joint Unlimited Number Mechanism Synthesis Prismatic Joint Manipulation System 
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Copyright information

© Springer-Verlag Wien 2000

Authors and Affiliations

  • Vigen Arakelian
    • 1
  • Marc Dahan
    • 1
  1. 1.LMARC (CNRS)Institut de ProductiqueBesançonFrance

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