Structural and Constructive Modelling of One-Loop Linkages Applied in Robotics

Iosif Tempea; Adriana Livadariu

doi:10.4028/www.scientific.net/SSP.166-167.415

Paper Titles

Motion Identification of the Human Agent's Arm in Case of Grabbing a Cylindrical Object and Transposing these in Control Rules for an Industrial Robot
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On the Control of Tendon Based Parallel Manipulators
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Modular Robotic System for Moving Inside of Pipelines - Part 1
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Modular Robotic System for Moving Inside of Pipelines - Part 2
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Structural and Constructive Modelling of One-Loop Linkages Applied in Robotics
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Non-Overshooting Force Control of Series Elastic Actuators
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Aspects Concerning Voice Cognitive Control Systems for Mobile Robots
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Simulating the Control of a Scara Robot by Means of a 3D Hand Position Sensing System
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Aspects Regarding 3D Road Modeling in Virtual Reality Scenarios for Driving Simulators
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HomeSolid State PhenomenaSolid State Phenomena Vols. 166-167Structural and Constructive Modelling of One-Loop...

Structural and Constructive Modelling of One-Loop Linkages Applied in Robotics

Abstract:

This paper, presents first, using Polya’s theorem of enumeration of distinct structures, the number of closed plane five-link kinematics chains. These chains differ among them by the number and the position of revolute and prismatic joints. From these chains, by interchanging the link connected to the frame, may be obtained different mechanisms with 2 degrees of freedom. Forward, it is presented the design with CATIA software of some mechanisms with five elements, with applicability in robotics. These may represent the mechanical structure of some manipulators for graving, inscription and other work. Also, they may be used in the design of a robot arm, with more degrees of freedom such as SCARA robots.

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Periodical:

Solid State Phenomena (Volumes 166-167)

Pages:

415-420

DOI:

https://doi.org/10.4028/www.scientific.net/SSP.166-167.415

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Online since:

September 2010

Authors:

Iosif Tempea, Adriana Livadariu

Keywords:

Five-Link Linkage, Modeling, Simulation, Synthesis

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References

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