The LEMMA concept: A new manipulator |
| |
Authors: | L Kersten |
| |
Affiliation: | 2. Department of Engineering Mechanics, 220 Bancroft Hall, University of Nebraska-Lincoln, Lincoln, NB 68588, U.S.A. |
| |
Abstract: | The LEMMA is a proposed conceptual design of a remote teleoperator manipulator arm with 6 degrees of freedom, exclusive of the end-effector. The bevel gear arrangement in 4 of the 6 degrees of freedom, together with the concentric-tubular arm configuration, requires a unique and a novel drive mechanism. This differential drive assembly, housed in the shoulder, is a self-compensating device and simplifies the matrix solution for the resolved motion rate control system needed to guide the arm in its performances. The article will describe the need for the 6 degrees of freedom as established by the work envelope, the functioning of the differential shoulder drive, the arm and joint configuration, and the anticipated degree of accuracy. |
| |
Keywords: | |
本文献已被 ScienceDirect 等数据库收录! |
|