Analytical and Numerical Model of Low DOF Manipulators. (2015)

• Record Type: Journal Article
• Authors: Forgó, Zoltán; Tolvaly-Roşca, Ferenc
• Is Part Of: Procedia technology. Volume 19(2015)
• Page Start: 40
• Page End: 47
• Publication Date: 2015
• Subjects: parallel mechanism -- parallel drive system -- manipulator -- robot.; Technology -- Congresses; Technology -- Periodicals; Engineering -- Congresses; Engineering -- Periodicals; Engineering; Technology; Conference proceedings; Periodicals; 605
• DOI: 10.1016/j.protcy.2015.02.007
• Languages: English
• ISSNs: 2212-0173

Abstract

Abstract: The paper introduces the use of a novel drive module with one translational and one rotational degree of freedom. The mechanism of the presented system has a timing belt setup, which enables a parallel drive of two DOF. Based on this mechanism the possibilities to build a low (2, 3 and 4) DOF manipulator are systematic presented, followed by the mathematical models for the geometry and kinematics. The advantages of the new mechanisms are underlined by presenting numerical results.