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Geometric Modelling of Bennet-Goldberg Overconstrained Mechanisms

Authors: [tex2html_wrap4272]P. Zsombor-Murray, R. Zhang, A. Kloet

Investigator username: paul

Category: robotics

Subcategory: manipulators and actuators

Certain 4-,5- and 6R closed chain spatial mechanisms are mobile in at least 1DOF even though, in general, m=r-7, where m is the number of DOF and r is the number of simple revolute hinges in the closed chain. Some of these have been investigated, especially a mobile, cubic space ``frame'' composed of 20 links and 24 hinges. In spite of its apparent complexity it is easy to build and analyze and promises to serve as an interesting robotic building block.


baron@cim.mcgill.ca