Analysis of Five-Degree-of-Freedom Robot Arms-Reference-Cited by-同舟云学术

Analysis of Five-Degree-of-Freedom Robot Arms

Published:1983-03-01 Issue:1 Volume:105 Page:23-27
ISSN:0738-0666
Container-title:Journal of Mechanisms, Transmissions, and Automation in Design
language:en
Short-container-title:

Author:

Sugimoto K.¹,Duffy J.²

Affiliation:

1. Production Engineering Research Laboratory, Hitachi, Ltd., Japan

2. Center for Intelligent Machines and Robotics, University of Florida, Gainesville, Fla. 32511

Abstract

Many kinds of robot arms with five degrees of freedom are widely used in industry for arc welding, spray painting, assembling etc. It is necessary to be able to compute joint displacements when such devices are computer controlled. A solution to this problem is presented and the analysis is illustrated by a numerical example using the most common industrial robot with five axes. Further, special cases are discussed using screw theory.

Publisher

ASME International

Subject

General Engineering

Link

http://asmedigitalcollection.asme.org/mechanicaldesign/article-pdf/105/1/23/5749759/23_1.pdf

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