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| Content Provider | The American Society of Mechanical Engineers (ASME) Digital Collection |
|---|---|
| Author | Willis, Darrin Scott, B. Nokleby Pop-Iliev, Remon |
| Copyright Year | 2008 |
| Abstract | This paper describes the mechanical design and analysis of a mobile-manipulator system comprised of a robot manipulator and a mobile base. The combination of the two is known as a mobile manipulator and combines the maneuverability of the mobile base with the accuracy of the robot manipulator. The mechanical design of a new mobile-manipulator system with the robot manipulator mounted on the front is discussed. The device features an innovative 2-DOF (degree-of-freedom) parallelogram coupling device that allows the base of the robot manipulator to translate vertically and roll longitudinally relative to the mobile base. The coupling device has dampers to reduce the vibrations caused by the motion of the mobile base on the robot manipulator and vice versa. The design features the use of omni-wheels that eliminate the problems inherent with traditional caster wheels. |
| Sponsorship | Design Engineering Division and Computers in Engineering Division |
| Starting Page | 885 |
| Ending Page | 893 |
| Page Count | 9 |
| File Format | |
| ISBN | 9780791843260 |
| DOI | 10.1115/DETC2008-49632 |
| e-ISBN | 0791838315 |
| Volume Number | Volume 2: 32nd Mechanisms and Robotics Conference, Parts A and B |
| Conference Proceedings | ASME 2008 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference |
| Language | English |
| Publisher Date | 2008-08-03 |
| Publisher Place | Brooklyn, New York, USA |
| Access Restriction | Subscribed |
| Subject Keyword | Design Design engineering Degrees of freedom Vibration Dampers Wheels Manipulators |
| Content Type | Text |
| Resource Type | Article |
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