Orienting Mechanism of Robots and Arm Prostheses with Linear and Rotary Drives |
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| Authors: | E. I. Vorob&# ev,A. V. Mikheev,K. O. Morgunenko |
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| Affiliation: | E. I. Vorob’ev,A. V. Mikheev,K. O. Morgunenko |
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| Abstract: | A mechanism is proposed for orienting motion of anthropomorphic robots and arm prostheses, with limited rotation of the output component. The linear displacements and drive forces required for specified rotations and the torques at the output component are determined. A simplified control algorithm is devised. |
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