Design of Spatial Fixed-Sequence Manipulator for Precise and Approximate Reproduction of Gripper Predetermined Positions
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.
KeywordsRevolute Joint Unlimited Number Mechanism Synthesis Prismatic Joint Manipulation System
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