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Published in:
2019 | OriginalPaper | Chapter
Development of a Hydraulic Robotic Arm – Determination of the Kinematic Parameters
Authors : Emanuel Moutinho Cesconeto, Eduardo André Perondi
Published in: Innovation, Engineering and Entrepreneurship
Publisher: Springer International Publishing
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Abstract
This paper proposes a new systematic strategy for the determination of the kinematic parameters of a planar manipulator arm with two links and two linear actuators. This kind of mechanism is used in various types of equipment, such as cranes, excavators, etc., and usually consists of the second and third links and joints. The proposed strategy aims to calculate the optimum length of the links and the angular limits of the joints that result in an arm with the best possible kinematic performance characteristics within a desired design-defined workspace, while considering the possible costs involved. It is versatile and easily expandable, and can thus be used in diverse cases. To verify the strategy a case study is analyzed, and the result is an arm with ideal parameters.