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| Content Provider | The American Society of Mechanical Engineers (ASME) Digital Collection |
|---|---|
| Author | Meng, Xiangdun Gao, Feng Yang, Jialun |
| Copyright Year | 2012 |
| Abstract | The fundamental work of type synthesis of robot mechanisms is to research and develop the performance criterion for evaluating the characteristics of robot end-effectors and consequently come up with the classification of mechanisms. The motion characteristics of end-effectors contain translation and rotation. Traditionally, mechanisms are classified only according to the existence and quantity of these two kinds of motion characteristics without considering the succession of motion, which has remarkable influence on the topological performance property of end-effectors. In this paper, we propose the conception of rotational completeness, which describes the rotational ability of end-effectors, based on the axis movement theorem. The GF Sets are classified into three categories according to the rotational completeness of end-effectors. We enumerated all three classes of GF sets and illustrated the effectiveness of GF sets in evaluating the characteristics of robot end-effectors. |
| Sponsorship | Design Engineering Division Computers and Information in Engineering Division |
| Starting Page | 559 |
| Ending Page | 564 |
| Page Count | 6 |
| File Format | |
| ISBN | 9780791845035 |
| DOI | 10.1115/DETC2012-70795 |
| Volume Number | Volume 4: 36th Mechanisms and Robotics Conference, Parts A and B |
| Conference Proceedings | ASME 2012 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference |
| Language | English |
| Publisher Date | 2012-08-12 |
| Publisher Place | Chicago, Illinois, USA |
| Access Restriction | Subscribed |
| Subject Keyword | End effectors Theorems (mathematics) Rotation Robots |
| Content Type | Text |
| Resource Type | Article |
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