Sciweavers

Share
ICRA
2000
IEEE

Structural Design and Analysis of a New Semi-Direct Drive Robot Arm: Theory and Experiment

9 years 5 months ago
Structural Design and Analysis of a New Semi-Direct Drive Robot Arm: Theory and Experiment
This paper reports the mechanical design, structural analysis, and experimental veri cation of a new high performance semi-direct drive robot arm. A design optimization methodology employing nite element analysis FEA is reviewed, and a resulting arm design is reported. FEA simulations of the nal design predict high structural vibration frequencies throughout the arms workspace. Extensive structural vibration experiments with the completed manipulator con rm the predicted structural vibration characteristics throughout the arm's workspace.
Jaydeep Roy, Randal P. Goldberg, Louis L. Whitcomb
Added 31 Jul 2010
Updated 31 Jul 2010
Type Conference
Year 2000
Where ICRA
Authors Jaydeep Roy, Randal P. Goldberg, Louis L. Whitcomb
Comments (0)
books