Topological Synthesis of a Parallel Wrist Mechanism-Reference-Cited by-同舟云学术

Topological Synthesis of a Parallel Wrist Mechanism

Published:2005-05-05 Issue:1 Volume:128 Page:230-235
ISSN:1050-0472
Container-title:Journal of Mechanical Design
language:en
Short-container-title:

Author:

Hess-Coelho Tarcisio A.¹

Affiliation:

1. Department of Mechatronics and Mechanical Systems Engineering, Polytechnic School, University of Sao Paulo, Av. Prof. Mello Moraes, 2331, São Paulo, SP 05508-900 Brazil

Abstract

To determine a suitable kinematic structure for a specific application is a complex task. Some available methods may provide a list of possible architectures for a robot wrist. However, a systematic method for selecting one among others is still an open problem. The paper presents a qualitative procedure for topological synthesis based on criteria that consider wrist design requirements and parallel mechanism peculiarities. The performance of chosen topology is evaluated according to desired requirements.

Publisher

ASME International

Subject

Computer Graphics and Computer-Aided Design,Computer Science Applications,Mechanical Engineering,Mechanics of Materials

Link

http://asmedigitalcollection.asme.org/mechanicaldesign/article-pdf/128/1/230/5582593/230_1.pdf

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