A methodology for geometric design of closed kinematic chain mechanisms

Author

Bryfogle, M.D. ; Nguyen, C.C. ; Zhou, Z.-L. ; Antrazi, S.S.

Author_Institution

Div. of Intelligent Syst., SAIC, Germantown, MD, USA

Volume

4

fYear

1997

fDate

20-25 Apr 1997

Firstpage

2974

Abstract

This paper presents a methodology for the geometric design of those closed-kinematic chain mechanisms consisting of two platforms connected by six linear actuators. The methodology provides a guideline for the placement of the linear actuator joints which can maximize the mechanism workspace and forces/torques. The paper explains how the presented methodology was applied in the design of two real-world robotic systems, a force reflecting hand controller of a teleoperation system and a fine motion mechanism of a munition loading system

Keywords

actuators; computational geometry; control system synthesis; manipulator dynamics; manipulator kinematics; military equipment; motion control; telerobotics; closed kinematic chain; fine motion control; force reflecting hand; geometric design; linear actuators; manipulators; mass dynamics; munition loading system; platforms; teleoperation system; Coaxial components; Design methodology; Force control; Intelligent systems; Jacobian matrices; Leg; Legged locomotion; Motion control; Payloads; Robot kinematics;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1997. Proceedings., 1997 IEEE International Conference on

Conference_Location

Albuquerque, NM

Print_ISBN

0-7803-3612-7

Type

conf

DOI

10.1109/ROBOT.1997.606739

Filename

606739