Journal article
Design of a compact statically balanced direct-drive manipulator
Abstract
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. Based on the conceptual design considerations, a novel 3 DOF (RRR) direct-drive manipulator is proposed …
Authors
Abdel-Rahman TM; Elbestawi MA
Journal
Robotica, Vol. 8, No. 4, pp. 347–353
Publisher
Cambridge University Press (CUP)
Publication Date
10 1990
DOI
10.1017/s0263574700000473
ISSN
0263-5747