Rapid prototyping of robotic systems

Author

Won, Jey ; DeLaurentis, Kathryn ; Mavroidis, Constantinos

Author_Institution

Dept. of Mech. & Aerosp. Eng., Rutgers Univ., Piscataway, NJ, USA

Volume

4

fYear

2000

fDate

2000

Firstpage

3077

Abstract

In this paper, the application of rapid prototyping in fabricating nonassembly robotic systems is presented. Using the stereolithography apparatus SLA 190 of the Department of Mechanical and Aerospace Engineering of Rutgers University, and the selective laser sintering Sinterstation 2000 of DTM Corporation of Austin, TX, prototypes of mechanical joints were fabricated experimentally. The designs of these component joints were then used to fabricate the articulated structure of experimental prototypes for two robotic systems: (1) a three-legged parallel manipulator; (2) a four degree of freedom finger of a five-fingered robotic hand

Keywords

laser beam applications; lithography; manipulators; rapid prototyping (industrial); sintering; 4-DOF finger; five-fingered robotic hand; mechanical joints; nonassembly robotic systems; rapid prototyping; selective laser sintering Sinterstation 2000; stereolithography apparatus SLA 190; three-legged parallel manipulator; Aerospace engineering; Educational robots; Fabrication; Laser sintering; Manipulators; Parallel robots; Prototypes; Robotic assembly; Stereolithography; Testing;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2000. Proceedings. ICRA '00. IEEE International Conference on

Conference_Location

San Francisco, CA

ISSN

1050-4729

Print_ISBN

0-7803-5886-4

Type

conf

DOI

10.1109/ROBOT.2000.845136

Filename

845136