On the development of a 7-DoF SPP robotic arm

On the development of a 7-DoF SPP robotic arm

This paper describes the mechanical design, analysis, and prototyping of a 7 DoF robotic arm that uses electrical actuators as its muscles. The structure of the arm is a hybrid Serial-Parallel-Parallel (SPP) configuration. The robotic arm is similar in size and structure to the human arm and can imi...

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Bibliographische Detailangaben
Hauptverfasser: Almurib, H. A. F., Al-Qrimli, H. F., Kumar, T. N.
Format: Tagungsbericht
Sprache:eng
Schlagworte:
Actuators
Elbow
forward kinematics
Joints
Manipulators
Robotic arm
serial and parallel configurations
Torque
workspace
Wrist
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Beschreibung
Zusammenfassung:This paper describes the mechanical design, analysis, and prototyping of a 7 DoF robotic arm that uses electrical actuators as its muscles. The structure of the arm is a hybrid Serial-Parallel-Parallel (SPP) configuration. The robotic arm is similar in size and structure to the human arm and can imitate the human arm movements; the 3 DoF shoulder has a serial link configuration; the 1 DoF elbow is a parallel configuration; and the 3 DoF wrist has a parallel configuration. Finite element analysis of critical components are also carried out.