Kinematic Design of a 2R1T Robotic End-effector with Flexure Joints

This paper focuses on the kinematic design issues for a three degrees-of-freedom (DOFs), i.e., two-rotational and one-translational (2R1T) end-effector to perform continuous contact operations, such as deburring, grinding, and polishing. The proposed end-effector design employs a 3-legged prismatic-...

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Veröffentlicht in:	IEEE access 2020-01, Vol.8, p.1-1
Hauptverfasser:	Yang, Guilin, Zhu, Renfeng, Fang, Zaojun, Chen, Chin-Yin, Zhang, Chi
Format:	Artikel
Sprache:	eng
Schlagworte:	3-DOF 2R1T parallel mechanism Deburring Degrees of freedom Design Displacement End effectors Flexing flexure joints Kinematic design Kinematics Legged locomotion Mathematical analysis Matrix methods Rigid structures Robot kinematics robotic end-effector Rotation Service robots Singularities Weight reduction
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