On Theory and Practice of Robots and Manipulators pp 201-213 | Cite as
The Synthesis and Scaling of Advanced Manipulator Systems
Summary
The “Bilateral Force Reflecting” type of manipulator has been identified as the most dexterous of the presently available ones.
The extremely good man-machine integration inherent in these devices accounts for much of the superior dexterity. This superior performance does however make more stringent demands on most of the manipulator operating parameters. Of the many parameters involved, problems associated with size, weight, complexity and reflected inertia are traced through from a second generation device completed in 1969, to a new, third generation manipulator. The basic approach taken for the latter turns out to be quite suitable for sealing to smaller sizes. A design, scaled down by a factor of five, and intended for an “Artificial Intelligence” mini-robot arm as well as for a mini-manipulator, is described briefly.
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