Design a robotic mechanism — Component of low and non-pollution manufacturing systems: Decoupling Movement of a robotic mechanism with three degrees of freedom, using couplings and wires transmission

摘要

The growing presence of industrial robots in low and non-pollution manufacturing systems requires the development of a database. This paper presents a form of robotic mechanism with three degrees of freedom, driven by wires and pulley wheels. It is necessary to present this type of mechanisms, because the literature data in the field of robotic mechanisms operated through wires are, relatively, poor. It is presented a structural and kinematic analysis of a robotic mechanism guidance, establishing equations of motion (e.g. for speeds, moments).