This paper appears in: Robotics and Automation, 1990. Proceedings., 1990 IEEE International Conference on
Publication Date: 13-18 May 1990
On page(s): 2162-2167 vol.3
Meeting Date: 05/13/1990 - 05/18/1990
Location: Cincinnati, OH, USA
ISBN: 0-8186-9061-5
References Cited: 11
INSPEC Accession Number: 3886715
Digital Object Identifier: 10.1109/ROBOT.1990.126324
Posted online: 2002-08-06 17:13:22.0
Abstract
A design is presented for a state-of-the-art
seven-degree-of-freedom arm consisting of a three-axis shoulder and
wrist which are singularity-free and therefore capable of performing any
human arm task. An anthropomorphic hand completes the system. Since the
shoulder carries the greatest load of all the joints in a robot arm, its
potential flexibility is problematic and has been enhanced in this
design by the use of an anthrobotic pitch-yaw-roll joint and by
placement of all arm motors adjacent to, but not on, the joints
themselves. Simplification of the joint through unique kinematics and
structure is described. The use of planetary gear systems in the
shoulder roll and elbow serves to increase load capacity
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