Direct drive manipulator wrist design

Design and control of a high-speed direct-drive manipulator

 · (1989). Design and control of a high-speed direct-drive manipulator. International Journal of Production Research: Vol. 27, No. 3, pp. 375-394.

Design of the Parallel Spherical Manipulator for Wrist …

 · This paper presents the most important steps of the wrist rehabilitation robot design. In this work, kinematic synthesis problem of a 3-RRR spherical parallel manipulator is considered including a solution for forward and inverse kinematic problems. In order to maximize dexterity of the parallel manipulator over its workspace, its design is developed by finding optimal link …

US7531979B2

A direct drive robotic manipulator is provided which includes a plurality of segments that are rotatably coupled with respect to one another. A plurality of spindles connects the segments for relative rotation therebetween, and a plurality of direct drive assemblies is further coupled to the plurality of spindles.

The Automatic Up-Down Material Manipulator Wrist 3d Design …

Abstract: The automatic up-down material manipulator wrist requirements compact structure, rational layout. The typical wrist structure has a variety of, this design wrist structure for step motor drives a turbine worm movement of the structure, main function is to drive the PAWS, make its can accurately to grab parts and placed parts.

Design of a torque-controlled manipulator to analyse the admittance of the wrist joint

 · In future studies, the high-performance wrist manipulator described here will be used to analyse wrist admittance during posture tasks and to quantify the reflexes at the wrist joint. Because the motor features in neurological disorders generally develop at distal joints, it is expected that differences can be quantified earlier after disease onset and with greater accuracy.

Adaptive robust control design for underwater multi-DoF hydraulic manipulator

 · The platform is mainly composed of a 5 DoF hydraulic manipulator, the hydraulic drive system and the signal acquisition system. The 5 DoF hydraulic manipulator is divided into five parts: elbow, big arm, small arm, wrist and gripper. The elbow is articulated on the manipulator base fixed on the shelf.

Analysis, design and control of direct-drive manipulators

Mechatronic design of adjustable serial manipulators with decoupled dynamics taking into account the changing payload. ... (a) The linearization of dynamic equations via …

Structure Design of a Loading and Unloading Manipulator

Frontiers in Science and Engineering Volume 1 Issue 6, 2021 ISSN: 2710-0588 DOI: 10.29556/FSE.202109_1(6).0016 126 4. Design of driving mechanism of loading and unloading manipulator The drive of the loading and unloading manipulator can be divided into

(PDF) Design of Direct-Drive Mechanical Arms

Design Concept of Direct-Drive Manipulators Using Rare-Earth DC Torque Motors. A direct-drive robotic manipulator (CMU DD Arm) is being developed at …

On the design of a direct drive 5-bar-linkage manipulator

The 5-bar-linkage manipulator configuration is well suited to many industrial robotic applications. Aside from kinematic suitability, the dynamic equations are greatly simplified due to a decoupling of the manipulator inertia matrix. The design also lends itself to the use of direct drive motors. However, these motors must be capable of providing a high continuous torque to counter ...

Design concept of direct-drive manipulators using rare-earth …

Robotics Institute, Carnegie-Mellon University, Pittsburgh, Pennsylvania

Design and analysis of the statically balanced direct-drive robot manipulator

 · This statically balanced direct-drive robot has been constructed for stability analysis of the robot in constrained manipulation (Kazerooni, H. eta/.: Fundamentals of robust compliant motion for robot manipulators. IEEE J. Robotics Automation 2: 1986; Kazerooni, H.: On the robot compliant motion control.

Economic 6-DOF robotic manipulator hardware design for research and education

 · Abstract. This work proposes economic design of robotic manipulator hardware for education and laboratory experiment purposes. This prototype can be used for conducting experiments and validation of various control strategies like robust control design, artificial intelligence-based control design, vision-based control, etc. Designed 6-DOF ...

Design and Dynamic Analysis of an Underwater Manipulator

 · 40.5 Conclusion. In this paper, a five-function underwater manipulator is introduced for marine salvage, underwater clearance, and other underwater tasks. A novel wrist mechanism, which uses the less inner leakage cylinder as the actuator and the groove cam for transmission, is developed for a 180° rotation. The dynamic model of the entire ...

Design and Development of a Carpal Wrist Robotic Manipulator

Request PDF | On Nov 1, 2019, James Bryan R. Alvarez and others published Design and Development of a Carpal Wrist Robotic Manipulator | Find, read and cite all the research

Design on Wrist and Gripper of manipulator Based on …

Design on Wrist and Gripper of manipulator Based on Kinematics Analysis Zong Huaizhi 1,a, Xiang Shigui 1,b, Li Xiang 1,c and Zhu Lida 1,d 1 Northeastern University, Shenyang, 110819, China a [email protected] , b [email protected] , c [email protected] d

Design and Control of Additional Wrist Mechanism for Fine …

 · 2) Based upon the above discussion, we devel oped an additional wrist mechanism which constructs a redundant manipulator with separative characteristic when installed to a usual manipulator. We also derived the schemes for kinematic inverse …

Design of a compact statically balanced direct-drive manipulator

Summary. This paper addresses the conceptual design of direct-drive manipulators which have good promise for high speed, high precision manipulation. In the design methodology presented, the procedure begins by considering the kinematic aspects and ends by configuring manipulator structures with promising kinematic and dynamic characteristics.

High-speed trajectory control of a direct-drive manipulator

A control system for direct-drive manipulators specially designed for high-speed trajectory control applications is developed. The concept of decoupled and invariant dynamics is discussed for a specific manipulator, and a simple procedure for system identification and control system design is presented. It is demonstrated that, through proper ...

Pneumatic Manipulator Wrist Structure and PLC Control Design

April 2014 Advanced Materials Research 912-914:723-726

Robotic Manipulator (Robotic Arm) – IJERT

 · The robotic manipulator can reduce human work to a greater extent which in turn can lead to faster progress of industry. The robotic arm can be evaluated, such as backlash, payload, speed, repeatability, compliance, human safety, and cost. The forward and reverse kinematics are the day-to-day methods used in robotic industries.

A Statically Balanced Direct Drive Manipulator

Figure 3 shows the four-bar-linkage with assigned coordinate frames. By inspection the conditions under which the vector of gravity passes through origin, 0, for all possible values of 91 and 93 are given by equations (1) and (2). ( m3X3 -m.l5 -m5X5 ) sin 83.0 (1 )

On the design of a direct drive 5-bar-linkage manipulator …

 · Summary. The 5-bar-linkage manipulator configuration is well suited to many industrial robotic applications. Aside from kinematic suitability, the dynamic equations are greatly simplified due to a decoupling of the manipulator inertia matrix. The design also lends itself to the use of direct drive motors. However, these motors must be capable ...

DESIGN AND CONTROL OF ADDITIONAL WRIST MECHANISM …

 · An Additional Wrist Mechanism (AWM) has been developed as an additional mechanism which constructs a redundant manipulator when installed to a usual m…

On the design of a direct drive 5-bar-linkage manipulator

In this paper, the static and dynamic design of the 5-bar-linkage manipulator is analysed. A technique is proposed whereby the motor torque requirements may be reduced to a fraction of those required in the conventional design, while simultaneously retaining the advantage of a decoupled inertia matrix.

(PDF) Robot arm-wrist coordination. Part 2. Design guidelines

Robot Arm-Wrist Coordination. Part 2. Design Guidelines Marcelo H. Ang Jr. and Vassilios D. Tourassis Robotics Laboratory, Department of Electrical Engineering, University of Rochester, Rochester, NY 14627 Received June 14, 1989; accepted November 20, 1989 zyxw zyx zyxwvu In the companion article (Part l), we developed a mathematical framework ...

Statically balanced direct drive manipulator

Robotica (1989) volume 7, pp 143-149 Statically balanced direct drive manipulator H. Kazerooni Mechanical Engineering Department, University of Minnesota, 111 Church Street S.E. Minneapolis, 55455 MN (USA) (Received in Final Form: July 29,1988) SUMMARY

Problems of design of a spherical wrist mechanism for a 6R low-payload robotic manipulator

 · A serial robotic manipulator is composed of an arm and a wrist. The latter is responsible for orienting (local motions) of an end-effector and it is composed of at least 3 joints. The paper concerns the designing procedure of a spherical wrist mechanism for a prototype 6R lightweight manipulating robot carried out by the authors.

Design and analysis of the statically balanced direct-drive robot …

 · This statically balanced direct-drive robot has been constructed for stability analysis of the robot in constrained manipulation (Kazerooni, H. eta/.: Fundamentals of robust compliant motion for robot manipulators. IEEE J. Robotics Automation 2: 1986; Kazerooni, H.: On the robot compliant motion control.

High-speed trajectory control of a direct-drive manipulator

 · The U.S. Department of Energy''s Office of Scientific and Technical Information OSTI.GOV Journal Article: High-speed trajectory control of a direct-drive manipulator

On the design of a direct drive 5-bar-linkage manipulator

Robotica (1991) volume 9, pp 441-446 On the design of a direct drive 5-bar-linkage manipulator J. P. Huissoon* and D. Wangt University of Waterloo, Waterloo, Ontario (Canada) N2L 3G1 (Received in Final Form: January 12, 1991) SUMMARY The 5-bar-linkage

NASA VALKYRIE: DESIGN OF A FOREARM AND WRIST FOR MANIPULATOR …

WRIST FOR MANIPULATOR INTEROPERABILITY AND IMPROVED GLOVEBOX PERFORMANCE MEIE 4701/4702 Technical Design Report Tuesday, December 4, 2018 Department of Mechanical and Industrial Engineering ...