| contributor author | L. Young | |
| contributor author | J. Duffy | |
| date accessioned | 2017-05-08T23:25:20Z | |
| date available | 2017-05-08T23:25:20Z | |
| date copyright | March, 1987 | |
| date issued | 1987 | |
| identifier issn | 1050-0472 | |
| identifier other | JMDEDB-28075#29_1.pdf | |
| identifier uri | http://yetl.yabesh.ir/yetl/handle/yetl/102782 | |
| description abstract | This paper is the first of a series of papers developing a theory for the articulation of planar robots. Here, end effectors are considered to be moving on specified trajectories regardless of orientation, which is considered to be a free parameter, and which together with the remaining link orientations can be used to flex and hence articulate the arms to avoid interference. The theory is based on the geometry of the robots and workspace structures. An affine transformation is introduced for determining the relative location of pairs of links which are modeled by line segments. | |
| publisher | The American Society of Mechanical Engineers (ASME) | |
| title | A Theory for the Articulation of Planar Robots: Part I—Kinematic Analysis for the Flexure and the Parallel Operation of Robots | |
| type | Journal Paper | |
| journal volume | 109 | |
| journal issue | 1 | |
| journal title | Journal of Mechanical Design | |
| identifier doi | 10.1115/1.3258781 | |
| journal fristpage | 29 | |
| journal lastpage | 36 | |
| identifier eissn | 1528-9001 | |
| keywords | Robots | |
| keywords | Bending (Stress) | |
| keywords | End effectors AND Geometry | |
| tree | Journal of Mechanical Design:;1987:;volume( 109 ):;issue: 001 | |
| contenttype | Fulltext | |