DocumentCode
3362638
Title
Simulation of combined motions for a 1-DOF clutched robotic arm
Author
Gu, Hao ; Ceccarelli, Marco
Author_Institution
LARM: Lab. of Robot. & Mech., Univ. of Cassino, Cassino, Italy
fYear
2009
fDate
9-12 Aug. 2009
Firstpage
3721
Lastpage
3726
Abstract
In this paper, we have reported simulation results of combined motions for a 1-DOF clutched robotic arm. The core of the arm system consists of clutches that are activated or deactivated according to a programmed manipulation path-planning. Once two or more transmission lines are activated, the arm works in combined motion modes. All the possible combined motions have been investigated. Simulation results have shown the motion capability of the arm kinematically and dynamically.
Keywords
humanoid robots; manipulator dynamics; manipulator kinematics; motion control; path planning; arm dynamics; arm kinematics; arm system; clutched robotic arm; combined motion simulation; humanoid robot; motion capability; programmed manipulation path-planning; Actuators; Anthropomorphism; Arm; Gears; Humanoid robots; Humans; Laboratories; Mechatronics; Mobile robots; Robotics and automation; Clutch-Gearing Systems; Humanoid Robots; Robotic Arms; Simulation;
fLanguage
English
Publisher
ieee
Conference_Titel
Mechatronics and Automation, 2009. ICMA 2009. International Conference on
Conference_Location
Changchun
Print_ISBN
978-1-4244-2692-8
Electronic_ISBN
978-1-4244-2693-5
Type
conf
DOI
10.1109/ICMA.2009.5246183
Filename
5246183
Link To Document