Volume 18, Issue 9 (12-2018)                   Modares Mechanical Engineering 2018, 18(9): 58-68 | Back to browse issues page

XML Persian Abstract Print


Download citation:
BibTeX | RIS | EndNote | Medlars | ProCite | Reference Manager | RefWorks
Send citation to:

Abdollahi Khosroshahi H, Badamchizadeh M. Design and Implementation of a new mechanism for a planar robotic arm. Modares Mechanical Engineering 2018; 18 (9) :58-68
URL: http://mme.modares.ac.ir/article-15-16479-en.html
1- University of Tabriz
Abstract:   (7481 Views)
Robotic arms are widely used for 2D desktop applications. In this paper, a new mechanism for a planar robotic arm is presented. In addition to having the benefits of both series of parallel robots, the proposed mechanism also eliminates the disadvantages of both categories. The arm made on the same side as the parallel arms has rigidity, strength and precision, and other positive features of the parallel arms, and on the other hand, like the serial arms, due to the lack of singular points inside the workspace, has a large, symmetrical and also be able to move continuously in the entire workspace. The kinematics relations for the arm are derived, and a controller based on AVR microcontroller & computer for the arm are introduced. The results indicate an improvement in arm performance and the removal of singular points from within the workspace.
Full-Text [PDF 7175 kb]   (3276 Downloads)    
Article Type: Research Article | Subject: Aerospace Structures
Received: 2018/03/4 | Accepted: 2018/09/25 | Published: 2018/09/25

Add your comments about this article : Your username or Email:
CAPTCHA

Rights and permissions
Creative Commons License This work is licensed under a Creative Commons Attribution-NonCommercial 4.0 International License.