YaBeSH Engineering and Technology Library

    • Journals
    • PaperQuest
    • YSE Standards
    • YaBeSH
    • Login
    View Item 
    •   YE&T Library
    • ASME
    • Journal of Mechanisms and Robotics
    • View Item
    •   YE&T Library
    • ASME
    • Journal of Mechanisms and Robotics
    • View Item
    • All Fields
    • Source Title
    • Year
    • Publisher
    • Title
    • Subject
    • Author
    • DOI
    • ISBN
    Advanced Search
    JavaScript is disabled for your browser. Some features of this site may not work without it.

    Archive

    An Underactuated Robotic Arm Based on Differential Gears for Capturing Moving Targets: Analysis and Design

    Source: Journal of Mechanisms and Robotics:;2016:;volume( 008 ):;issue: 004::page 41012
    Author:
    Wang, Qingchuan
    ,
    Quan, Qiquan
    ,
    Deng, Zongquan
    ,
    Hou, Xuyan
    DOI: 10.1115/1.4032811
    Publisher: The American Society of Mechanical Engineers (ASME)
    Abstract: This paper presents the design of an underactuated robotic arm for capturing moving targets with an impactabsorbing capability. The arm consists of three joints (a base joint (BJ), a medial joint (MJ), and a distal joint (DJ)) that are driven by two actuators. A oneinput dualoutput planetary gear (PG) system, in which neither the ring gear nor the planetary carrier is fixed, is employed to distribute the driving torque between the MJ and DJ. As is well known, an underactuated arm may exhibit unstable grasping performance such that the arm loses contact with the target in certain grasping postures. Therefore, a method is presented for analyzing the equilibrium contact force and the relative movement trend between the target and the arm to determine the work space in which stable grasping is possible. The structural configuration parameters, such as the length ratios among the three beams and the reduction ratio of the PG system, were optimized to maximize the grasp stability work space. Subsequently, a prototype was designed and fabricated based on these optimized parameters. Experiments indicate that this arm design can effectively reduce the peak torque on the joints when grasping a moving target.
    • Download: (4.835Mb)
    • Show Full MetaData Hide Full MetaData
    • Get RIS
    • Item Order
    • Go To Publisher
    • Price: 5000 Rial
    • Statistics

      An Underactuated Robotic Arm Based on Differential Gears for Capturing Moving Targets: Analysis and Design

    URI
    http://yetl.yabesh.ir/yetl1/handle/yetl/161964
    Collections
    • Journal of Mechanisms and Robotics

    Show full item record

    contributor authorWang, Qingchuan
    contributor authorQuan, Qiquan
    contributor authorDeng, Zongquan
    contributor authorHou, Xuyan
    date accessioned2017-05-09T01:31:36Z
    date available2017-05-09T01:31:36Z
    date issued2016
    identifier issn1942-4302
    identifier otherjmr_008_04_041012.pdf
    identifier urihttp://yetl.yabesh.ir/yetl/handle/yetl/161964
    description abstractThis paper presents the design of an underactuated robotic arm for capturing moving targets with an impactabsorbing capability. The arm consists of three joints (a base joint (BJ), a medial joint (MJ), and a distal joint (DJ)) that are driven by two actuators. A oneinput dualoutput planetary gear (PG) system, in which neither the ring gear nor the planetary carrier is fixed, is employed to distribute the driving torque between the MJ and DJ. As is well known, an underactuated arm may exhibit unstable grasping performance such that the arm loses contact with the target in certain grasping postures. Therefore, a method is presented for analyzing the equilibrium contact force and the relative movement trend between the target and the arm to determine the work space in which stable grasping is possible. The structural configuration parameters, such as the length ratios among the three beams and the reduction ratio of the PG system, were optimized to maximize the grasp stability work space. Subsequently, a prototype was designed and fabricated based on these optimized parameters. Experiments indicate that this arm design can effectively reduce the peak torque on the joints when grasping a moving target.
    publisherThe American Society of Mechanical Engineers (ASME)
    titleAn Underactuated Robotic Arm Based on Differential Gears for Capturing Moving Targets: Analysis and Design
    typeJournal Paper
    journal volume8
    journal issue4
    journal titleJournal of Mechanisms and Robotics
    identifier doi10.1115/1.4032811
    journal fristpage41012
    journal lastpage41012
    identifier eissn1942-4310
    treeJournal of Mechanisms and Robotics:;2016:;volume( 008 ):;issue: 004
    contenttypeFulltext
    DSpace software copyright © 2002-2015  DuraSpace
    نرم افزار کتابخانه دیجیتال "دی اسپیس" فارسی شده توسط یابش برای کتابخانه های ایرانی | تماس با یابش
    yabeshDSpacePersian
     
    DSpace software copyright © 2002-2015  DuraSpace
    نرم افزار کتابخانه دیجیتال "دی اسپیس" فارسی شده توسط یابش برای کتابخانه های ایرانی | تماس با یابش
    yabeshDSpacePersian