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A Unique Approach for Planar Parallel Robotic Arms

( Vol-3,Issue-12,December 2016 ) OPEN ACCESS
Author(s):

Rajneesh Kumar Rai, Sunil Punjabi

Keywords:

Grasping capacity, Mechanism, Parallelism, Rigidity, Robotic arms

Abstract:

In the design of mechanism, a decision must first be taken regarding the type of mechanism to be employed. The number of links and connections required to give the desired degree of freedom must then be determined. Finally, the required dimensions needed to bring about a particular motion must be deduced. In the present study the main focus is to select a mechanism for parallel robotic arms. However there are a number of mechanisms available which can be used as robot hands. In the selection of mechanism for robotic hands, rigidity and grasping power are the main important considerations. In the present paper, a unique numerical method is used to measure the parallelism between the object and the ground link. This can be used to compare the robotic hands for rigidity and grasp.

ijaers doi crossref DOI:

10.22161/ijaers/3.12.30

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