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On the Validation of the Proper Generalized Decomposition Method with Finite Element Method: 3D Heat Problem Under Cyclic Loading Read chapter Read first chapter

2019 | OriginalPaper | Chapter

Creative Design of 2-DOF, 7-Link Multiloop Robotic Mechanisms

Authors : Vladimir Pozhbelko, Ekaterina Kuts

Published in: Mechanism, Machine, Robotics and Mechatronics Sciences

Publisher: Springer International Publishing

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Abstract

Structural synthesis of kinematic chains and multiple DOF multiloop mechanisms with specified input parameters is the first and the most important stage in the mechanical conceptual creative design of robots. This paper proposes a new approach to structural synthesis and creative design of closed-loop robotic mechanism with simple and multiple joints based on an original addition synthesis method. First, the structural synthesis method of non-fractionated and fractionated multiple joint kinematic chains with the smallest closed loop is presented. Then, the complete atlas database of all feasible 12 types of 2-DOF, 7-link, 2-basic (independent) loops generalized simple and multiple joint kinematic chain and corresponding atlas of hinged mechanisms are obtained. Third, based on classified atlas databases of kinematic chains and mechanisms with simple and multiple joints, a creative design method is proposed to obtain all the feasible mechanisms for a specified task. Finally, examples of the creative design of single arm robot manipulators are also conducted to demonstrate the effectiveness of the proposed method.

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previous chapter Parallel Robot Integration and Synchronization in a Waste Sorting System
next chapter Structural Synthesis of 1-DOF up to 5-Loop Kinematic Chains with Multiple Joints and Its Analysis in Robotics
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Metadata
Title
Creative Design of 2-DOF, 7-Link Multiloop Robotic Mechanisms
Authors
Vladimir Pozhbelko
Ekaterina Kuts
Copyright Year
2019
Book
Mechanism, Machine, Robotics and Mechatronics Sciences

Print ISBN: 978-3-319-89910-7

Electronic ISBN: 978-3-319-89911-4

Copyright Year: 2019

DOI
https://doi.org/10.1007/978-3-319-89911-4_14

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