DocumentCode
3353385
Title
Robotic passive compliant wrist and its optimal design
Author
Shangxian, Peng ; Qinggang, Meng ; Zuozhong, Jin
Author_Institution
Tianjin Univ., China
fYear
1994
fDate
5-9 Dec 1994
Firstpage
602
Lastpage
606
Abstract
Based on analyzing the mechanism of passive compliant assembly, its geometric-force models are presented, and the stiffness matrix of laminated circular elastic element is set up. The method of optimum of RCC wrist is compiled by way of two phases, respectively
Keywords
manipulators; matrix algebra; optimisation; RCC wrist; geometric-force models; laminated circular elastic element; optimal design; passive compliant assembly; robotic passive compliant wrist; stiffness matrix; Design methodology; Design optimization; Difference equations; Friction; Pressing; Robotic assembly; Robots; Solid modeling; Springs; Wrist;
fLanguage
English
Publisher
ieee
Conference_Titel
Industrial Technology, 1994., Proceedings of the IEEE International Conference on
Conference_Location
Guangzhou
Print_ISBN
0-7803-1978-8
Type
conf
DOI
10.1109/ICIT.1994.467130
Filename
467130
Link To Document