Creation of multi-Degree-Of-Freedom mechanisms for robotic applications. Progress report, September 1990-August 1991

摘要

This research is concerned with one of the most difficult stages of mechanical design, namely the conceptual synthesis of mechanisms. The main objective of this research is to develop systematic methodologies for the creation of multi-DOF (Degree-Of-Freedom) mechanisms for robotic applications. However, the analysis and control of such mechanisms have also been studied. Four major areas of interest have been studied: (1) redundant-drive backlash-free manipulators, (2) dynamic analysis and synthesis of geared robotic mechanisms, (3) tendon-driven manipulators, and (4) bevel-gear-type robotic wrist mechanisms. 13 refs.