Title :
Simulation of combined motions for a 1-DOF clutched robotic arm
Author :
Gu, Hao ; Ceccarelli, Marco
Author_Institution :
LARM: Lab. of Robot. & Mech., Univ. of Cassino, Cassino, Italy
Abstract :
In this paper, we have reported simulation results of combined motions for a 1-DOF clutched robotic arm. The core of the arm system consists of clutches that are activated or deactivated according to a programmed manipulation path-planning. Once two or more transmission lines are activated, the arm works in combined motion modes. All the possible combined motions have been investigated. Simulation results have shown the motion capability of the arm kinematically and dynamically.
Keywords :
humanoid robots; manipulator dynamics; manipulator kinematics; motion control; path planning; arm dynamics; arm kinematics; arm system; clutched robotic arm; combined motion simulation; humanoid robot; motion capability; programmed manipulation path-planning; Actuators; Anthropomorphism; Arm; Gears; Humanoid robots; Humans; Laboratories; Mechatronics; Mobile robots; Robotics and automation; Clutch-Gearing Systems; Humanoid Robots; Robotic Arms; Simulation;
Conference_Titel :
Mechatronics and Automation, 2009. ICMA 2009. International Conference on
Conference_Location :
Changchun
Print_ISBN :
978-1-4244-2692-8
Electronic_ISBN :
978-1-4244-2693-5
DOI :
10.1109/ICMA.2009.5246183
