The Modular Design of a Long-Reach, 11-Axis Manipulator
Introduced in this paper is a modular approach to the design of an ll-axis manipulator consisting of a four-axis submanipulator for the gross posing of the base of a second, seven-axis submanipulator. The base undergoes motions that keep the first axis of the second submanipulator vertical. The two modules making up the seven-axis submanipulator are intended, respectively, for the positioning of the center of its spherical wrist and for the orientation of the wrist. Positioning is accomplished with a four-axis redundant submanipulator of serial, isotropic architecture, while orientation by means of a parallel, isotropic architecture. The design philosophy and methodology adopted at the outset are outlined here.
KeywordsSmall Manipulator Modular Design Revolute Joint Joint Variable Terminal Link
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