Title :
On the development of a 7-DoF SPP robotic arm
Author :
Almurib, Haider A F ; Al-Qrimli, Haidar Fadhil ; Kumar, T. Nandha
Author_Institution :
Dept. of Electr. & Electron. Eng., Univ. of Nottingham Malaysia Campus, Semenyih, Malaysia
Abstract :
This paper describes the mechanical design, analysis, and prototyping of a 7 DoF robotic arm that uses electrical actuators as its muscles. The structure of the arm is a hybrid Serial-Parallel-Parallel (SPP) configuration. The robotic arm is similar in size and structure to the human arm and can imitate the human arm movements; the 3 DoF shoulder has a serial link configuration; the 1 DoF elbow is a parallel configuration; and the 3 DoF wrist has a parallel configuration. Finite element analysis of critical components are also carried out.
Keywords :
electric actuators; finite element analysis; industrial manipulators; 7-DoF SPP robotic arm; DoF elbow; DoF wrist; FEA; electrical actuators; finite element analysis; human arm movements; hybrid serial-parallel-parallel configuration; industrial manipulator; mechanical analysis; mechanical design; serial link configuration; Actuators; Elbow; Joints; Manipulators; Torque; Wrist; Robotic arm; forward kinematics; serial and parallel configurations; workspace;
Conference_Titel :
SICE Annual Conference (SICE), 2011 Proceedings of
Conference_Location :
Tokyo
Print_ISBN :
978-1-4577-0714-8
