Abstract
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.
Original language | English |
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Pages | 930-934 |
Number of pages | 5 |
Publication status | Published - 13 Sept 2011 |
Event | SICE Annual Conference 2011 - Tokyo, Japan Duration: 13 Sept 2011 → 18 Sept 2011 |
Conference
Conference | SICE Annual Conference 2011 |
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Country/Territory | Japan |
City | Tokyo |
Period | 13/09/11 → 18/09/11 |