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The kinematics of robotic bevel-gear trains

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1 Author(s)
Tsai, L.-W. ; University of Maryland, College Park, Maryland

A systematic approach has been 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 the end-effector can be described by an equivalent open-loop chain and that the relative rotations between every two adjacent links in the equivalent open-loop chain can be derived from a set of fundamental circuit equations. The theory is demonstrated by the kinematic analysis of a robotic wrist.

Published in:

Robotics and Automation. Proceedings. 1987 IEEE International Conference on  (Volume:4 )

Date of Conference:

Mar 1987