SOME KINEMATIC STRUCTURES FOR ROBOT MANIPULATOR DESIGNS

被引：41

作者：

EARL, CF

ROONEY, J

机构：

来源：

JOURNAL OF MECHANISMS TRANSMISSIONS AND AUTOMATION IN DESIGN-TRANSACTIONS OF THE ASME | 1983年 / 105卷 / 01期

关键词：

KINEMATICS;

D O I：

10.1115/1.3267337

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

Some kinematic structures suitable for use in robot manipulator designs are constructed in terms of components. General properties of kinematic structures are considered and a method for combining two structures given. Two types of component, namely actuation and distribution components, are specified. Modification of the kinematic structures is effected by transfer of drives. Existing designs for robot manipulators are examined in terms of their kinematic structures and some new designs are generated.

引用

页码：15 / 22

页数：8

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