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Conceptual design and dynamics modeling of a cooperative dual-arm cam-lock manipulator

Published online by Cambridge University Press:  09 March 2009

Ali Meghdari
Ali Meghdari
Affiliation:
Sharif University of Technology, Department of Mechanical Engineering, Robotics Research Laboratory, Tehran (I.R. Iran)
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Summary

This paper presents the conceptual designs, kinematics and dynamics modeling of a cooperative re-configurable Dual-Arm Cam-Lock Manipulator. A cam-lock manipulator is a robotics structure with a pair of multi-degree of freedom planar arms jointed together at a shared base. This manipulator is designed to be capable of performing a wide variety of tasks by automatically re-configuring itself to form a variable geometry, stiffness, damping, and workspace robotics structure by the virtue of a novel link/joint design along i''s arms, labeled as the cam-lock design. The kinematics and dynamics of this manipulator is described using admissible variables (i.e., variables that define the constrained admissible motion). Along with the dynamic relations of this manipulator, a generic equation was also developed for the joint servo system.

Keywords

Dual-arm cam-lock manipulatorDynamic modelingDesignGeneric equation
Type
Article
Information
Robotica , Volume 14 , Issue 3 , May 1996 , pp. 301 - 309
Copyright
Copyright © Cambridge University Press 1996

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References

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