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Romansy 13 pp 225-233 | Cite as

The Modular Design of a Long-Reach, 11-Axis Manipulator

  • Jorge Angeles
  • Alexei Morozov
  • Leonid Slutski
  • Oscar Navarro
  • Laurent Jabre
Conference paper
Part of the International Centre for Mechanical Sciences book series (CISM, volume 422)

Abstract

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.

Keywords

Small Manipulator Modular Design Revolute Joint Joint Variable Terminal Link 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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Copyright information

© Springer-Verlag Wien 2000

Authors and Affiliations

  • Jorge Angeles
    • 1
  • Alexei Morozov
    • 1
  • Leonid Slutski
    • 1
  • Oscar Navarro
    • 2
  • Laurent Jabre
    • 3
  1. 1.Department of Mechanical Engineering & Centre for Intelligent MachinesMcGill UniversityMontrealCanada
  2. 2.Integración de Procesos IndustrialesLeón, Gto.Mexico
  3. 3.CAE Electronics Ltd.St. LaurentCanada

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