Design and analysis of the statically balanced direct-drive robot manipulator

✍ Scribed by H. Kazerooni

• Publisher: Elsevier Science
• Year: 1989
• Tongue: English
• Weight: 990 KB
• Volume: 6
• Category: Article
• ISSN: 0736-5845
• DOI: 10.1016/0736-5845(89)90118-x

✦ Synopsis

A practical architecture, using a four-bar linkage, is considered for the University of Minnesota direct-drive robot (Kazerooni, H., Kim, S.: A new architecture for direct drive robots. In Proc. IEEE International Conference on Robotics and Automation, Philadelphia, Pennsylvania, April 1988). This statically balanced direct-drive robot has been constructed for stability analysis of the robot in constrained manipulation (Kazerooni, H. eta/.: Fundamentals of robust compliant motion for robot manipulators.