Design and Construction of a Modular Robot with Eulerian Joints

  • M. M. Gola
  • D. Botto
Conference paper
Part of the Schriftenreihe der Wissenschaftlichen Landesakademie für Niederösterreich book series (AKADNIEDERÖSTER)


The aim of our research is the construction of a robot arm with non conventional architecture for applications in non-industrial environments. In this work we develop a machine for agricultural applications, such as fruit picking. The arm must be hollow and enable the fruit to be conveyed through it, thus saving cycle time. In this paper we analyze an original kinematical configuration particularly suited to this purpose, and develop a preliminary design. At last we present the final design and discuss architectural and constructional details.


Circular Plate Virtual Work Bevel Gear Motor Torque Local Reference Frame 
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.


Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.


  1. Gola, M. M., Mebrahtu, Y., Soma, A,. (1989). Design optimization of an experimentally tuned robotic structure. In: Zheng, Z. (Ed.). International Conference on Applied Mechanic, International Academic Publishers, Beijing, 331–336Google Scholar
  2. Gola, M. M., Soma, A. (1992). Design of a carbon fibre robot: architectural choices and design balancing. In: n/a (Ed.). International Symposium on Theory and Practice of Robot and Manipulators, n/a, Udine, n/aGoogle Scholar
  3. Gola, M. M., Soma, A., Botto, D. Design of two non conventional robot structures. In: Nemec, B. (Ed.). First International Meeting on Robotics in Alpe Adria Region, Slovenian Robotic Society, Portoroz, 91–98Google Scholar

Copyright information

© Springer-Verlag/Wien 1994

Authors and Affiliations

  • M. M. Gola
    • 1
  • D. Botto
    • 1
  1. 1.Mechanical DepartmentUniversity of TechnologyTurinItaly

Personalised recommendations