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The kinematics of spatial robotic bevel-gear trains

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1 Author(s)
Tsai, L.-W. ; Dept. of Mech. Eng., Syst. Res. Center, Maryland Univ., College Park, MD, USA

A systematic approach is developed for the kinematic analysis of multi-degree-of-freedom robotic bevel-gear trains. The approach is based on the idea that the motion of a bevel-gear-type and effector can be described by an equivalent open-loop chain and that the relative rotation between every two adjacent links in the equivalent open-loop chain can be derived from a set of fundamental circuit equations and coaxial conditions. The theory is demonstrated by the kinematic analysis of two robotic wrists

Published in:

Robotics and Automation, IEEE Journal of  (Volume:4 ,  Issue: 2 )