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Simplified Robotic Joint Specification and Analysis by Link-Plane Method
| Content Provider | Semantic Scholar |
|---|---|
| Author | Chirala, Padmanayan Yilma, Benjamin |
| Copyright Year | 1992 |
| Abstract | A simplifed approach for the specijkation of a robotic joint and its uplink motion is presented in terms of the unit vectors detning its downlink plane and axis; and scalars detning the joint displacement and the uplink length. Five basic types of joints are defined to describe a robot contguration. These are pitch, yaw, crank, roll and sliding joints. A bend is treated as a frozen pitch, yaw or crank joint with a Bed joint rotation angle. |
| File Format | PDF HTM / HTML |
| Alternate Webpage(s) | https://www.computer.org/csdl/proceedings/ssst/1992/2665/00/00712275.pdf |
| Language | English |
| Access Restriction | Open |
| Content Type | Text |
| Resource Type | Article |