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Reconfigurable Chains of Bifurcating Type III Bricard Linkages Read chapter Read first chapter

2016 | OriginalPaper | Chapter

Compliance Analysis and Synthesis of a Serial Manipulator with Redundant DOFs Used in Tokamak

Authors : Jue Yu, Yong Zhao, Hao Wang, Li Wang, Xinmin Lai

Published in: Advances in Reconfigurable Mechanisms and Robots II

Publisher: Springer International Publishing

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Abstract

Serial manipulator with redundant DOF joints performs the maintenance and inspection tasks in Tokamak, which needs good stiffness behavior in vertical direction and appropriate compliance in horizontal planar. According to this demand, this paper analyses the Cartesian compliance of carrying manipulator (6R) and the whole serial manipulator (10R), respectively. Then an equivalent full DOF serial mechanism which performs the same compliance is proposed. Based on the equivalent robotic arm, the desired compliance behavior is realized by adding several passive springs without changing the parameters of the original ten joints.

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Metadata
Title
Compliance Analysis and Synthesis of a Serial Manipulator with Redundant DOFs Used in Tokamak
Authors
Jue Yu
Yong Zhao
Hao Wang
Li Wang
Xinmin Lai
Copyright Year
2016
Book
Advances in Reconfigurable Mechanisms and Robots II

Print ISBN: 978-3-319-23326-0

Electronic ISBN: 978-3-319-23327-7

Copyright Year: 2016

DOI
https://doi.org/10.1007/978-3-319-23327-7_65