Topological Synthesis of a Parallel Wrist MechanismSource: Journal of Mechanical Design:;2006:;volume( 128 ):;issue: 001::page 230Author:Tarcisio A. Hess-Coelho
DOI: 10.1115/1.2121742Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: To determine a suitable kinematic structure for a specific application is a complex task. Some available methods may provide a list of possible architectures for a robot wrist. However, a systematic method for selecting one among others is still an open problem. The paper presents a qualitative procedure for topological synthesis based on criteria that consider wrist design requirements and parallel mechanism peculiarities. The performance of chosen topology is evaluated according to desired requirements.
keyword(s): Design , Architecture , Topology , Mechanisms , Parallel mechanisms , Actuators , Robots AND Motion ,
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| contributor author | Tarcisio A. Hess-Coelho | |
| date accessioned | 2017-05-09T00:21:11Z | |
| date available | 2017-05-09T00:21:11Z | |
| date copyright | January, 2006 | |
| date issued | 2006 | |
| identifier issn | 1050-0472 | |
| identifier other | JMDEDB-27819#230_1.pdf | |
| identifier uri | http://yetl.yabesh.ir/yetl/handle/yetl/134394 | |
| description abstract | To determine a suitable kinematic structure for a specific application is a complex task. Some available methods may provide a list of possible architectures for a robot wrist. However, a systematic method for selecting one among others is still an open problem. The paper presents a qualitative procedure for topological synthesis based on criteria that consider wrist design requirements and parallel mechanism peculiarities. The performance of chosen topology is evaluated according to desired requirements. | |
| publisher | The American Society of Mechanical Engineers (ASME) | |
| title | Topological Synthesis of a Parallel Wrist Mechanism | |
| type | Journal Paper | |
| journal volume | 128 | |
| journal issue | 1 | |
| journal title | Journal of Mechanical Design | |
| identifier doi | 10.1115/1.2121742 | |
| journal fristpage | 230 | |
| journal lastpage | 235 | |
| identifier eissn | 1528-9001 | |
| keywords | Design | |
| keywords | Architecture | |
| keywords | Topology | |
| keywords | Mechanisms | |
| keywords | Parallel mechanisms | |
| keywords | Actuators | |
| keywords | Robots AND Motion | |
| tree | Journal of Mechanical Design:;2006:;volume( 128 ):;issue: 001 | |
| contenttype | Fulltext |