This paper describes the mechanical design, analysis, and prototyping of a 7 DoF robotic arm that useselectrical actuators as its muscles. The structure of the arm is a hybrid Serial-Parallel-Parallel (SPP) configuration. The robotic arm is similar in size and structure to the human arm and can imitate the human arm movements; the 3 DoF shoulder has a serial link configuration; the 1 DoF elbow is a parallel configuration; and the 3 DoF wrist has a parallel configuration. Finite element analysis of critical components are also carried out.
|Number of pages||5|
|Publication status||Published - 13 Sep 2011|
|Event||SICE Annual Conference 2011 - Tokyo, Japan|
Duration: 13 Sep 2011 → 18 Sep 2011
|Conference||SICE Annual Conference 2011|
|Period||13/09/11 → 18/09/11|