Paper Title:
Design of Three Joints Underactuated Manipulator with Nonholonomic Constraint
  Abstract

A novel three joints underactuated manipulator has been proposed in this paper. Firstly, the structure features of the manipulator are analyzed. Then, the kinematic model with triangular structure can be converted into the chained form through appropriate design for structural and kinematical parameters. Finally, the result of simulation for three joints underactuated manipulator indicates that the joints angles can be move the desired value by input velocity control of two motors. It is concluded that it is feasible to design controllable manipulator with nonholonomic theory.

  Info
Periodical
Chapter
Chapter 2: Advanced Design Science (1)
Edited by
Dongye Sun, Wen-Pei Sung and Ran Chen
Pages
810-814
DOI
10.4028/www.scientific.net/AMM.121-126.810
Citation
Y. G. Tan, L. Li, "Design of Three Joints Underactuated Manipulator with Nonholonomic Constraint", Applied Mechanics and Materials, Vols. 121-126, pp. 810-814, 2012
Online since
October 2011
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Price
$32.00
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