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A methodology for geometric design of closed kinematic chain mechanisms

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4 Author(s)
Bryfogle, M.D. ; Div. of Intelligent Syst., SAIC, Germantown, MD, USA ; Nguyen, C.C. ; Zhou, Z.-L. ; Antrazi, S.S.

This paper presents a methodology for the geometric design of those closed-kinematic chain mechanisms consisting of two platforms connected by six linear actuators. The methodology provides a guideline for the placement of the linear actuator joints which can maximize the mechanism workspace and forces/torques. The paper explains how the presented methodology was applied in the design of two real-world robotic systems, a force reflecting hand controller of a teleoperation system and a fine motion mechanism of a munition loading system

Published in:

Robotics and Automation, 1997. Proceedings., 1997 IEEE International Conference on  (Volume:4 )

Date of Conference:

20-25 Apr 1997