Analytical Design of Two-Revolute Open Chains
This paper deals with determining the dimensions of open chains composed of two moving links connected in series by means of revolute joints. Many manipulators, mechanical hands, walking machine legs and other mechanical devices contain this basic configuration. Equations are presented which can be used to numerically determine linkage dimensions according to specific design requirements. The design specifications treated by these methods can be on position, orientation, error sensitivity, velocity, acceleration, and force transmission characteristics. A numerical example is presented to illustrate the basic theory.
KeywordsTwist Angle Open Chain Revolute Joint Linkage Parameter Error Sensitivity
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