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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| creator | Almurib, H. A. F. Al-Qrimli, H. F. Kumar, T. N. |
| description | 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. |
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N.</creatorcontrib><description>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. 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A. F.</creatorcontrib><creatorcontrib>Al-Qrimli, H. F.</creatorcontrib><creatorcontrib>Kumar, T. N.</creatorcontrib><title>On the development of a 7-DoF SPP robotic arm</title><title>SICE Annual Conference 2011</title><addtitle>SICE</addtitle><description>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.</description><subject>Actuators</subject><subject>Elbow</subject><subject>forward kinematics</subject><subject>Joints</subject><subject>Manipulators</subject><subject>Robotic arm</subject><subject>serial and parallel configurations</subject><subject>Torque</subject><subject>workspace</subject><subject>Wrist</subject><isbn>9781457707148</isbn><isbn>1457707144</isbn><isbn>9784907764395</isbn><isbn>4907764391</isbn><isbn>9781907764388</isbn><fulltext>true</fulltext><rsrctype>conference_proceeding</rsrctype><creationdate>2011</creationdate><recordtype>conference_proceeding</recordtype><sourceid>6IE</sourceid><sourceid>RIE</sourceid><recordid>eNpjZOC1NLcwsTQwNzczMbY0ZQbzDU1Mzc0NzA1NLDgYeIuLswyAwMwMKGHJyaDrn6dQkpGqkJJalpqTX5CbmleikJ-mkKhgruuS76YQHBCgUJSflF-SmayQWJTLw8CalphTnMoLpbkZpN1cQ5w9dDNTU1PjC4oycxOLKuPNDIDQxMgYvywAWQwuLw</recordid><startdate>201109</startdate><enddate>201109</enddate><creator>Almurib, H. A. 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F.</creatorcontrib><creatorcontrib>Kumar, T. N.</creatorcontrib><collection>IEEE Electronic Library (IEL) Conference Proceedings</collection><collection>IEEE Proceedings Order Plan All Online (POP All Online) 1998-present by volume</collection><collection>IEEE Xplore All Conference Proceedings</collection><collection>IEEE Xplore</collection><collection>IEEE Proceedings Order Plans (POP All) 1998-Present</collection></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>Almurib, H. A. F.</au><au>Al-Qrimli, H. F.</au><au>Kumar, T. N.</au><format>book</format><genre>proceeding</genre><ristype>CONF</ristype><atitle>On the development of a 7-DoF SPP robotic arm</atitle><btitle>SICE Annual Conference 2011</btitle><stitle>SICE</stitle><date>2011-09</date><risdate>2011</risdate><spage>930</spage><epage>934</epage><pages>930-934</pages><isbn>9781457707148</isbn><isbn>1457707144</isbn><eisbn>9784907764395</eisbn><eisbn>4907764391</eisbn><eisbn>9781907764388</eisbn><abstract>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.</abstract><pub>IEEE</pub></addata></record> |
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| language | eng |
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| source | IEEE Electronic Library (IEL) Conference Proceedings |
| subjects | Actuators Elbow forward kinematics Joints Manipulators Robotic arm serial and parallel configurations Torque workspace Wrist |
| title | On the development of a 7-DoF SPP robotic arm |
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