Difference between revisions of "Robotic manipulator"
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Revision as of 13:19, 13 March 2021
[Todo: add intro]
Contents
Compactness operation-frequency and degrees-of-freeodom
Mill style
Manipulator style
Type of mechanical chaining
Serial robots
Purely mechanical serial robotics can expose the problem of unintended differential bearings. When the control of the second joint from the root is threaded through the first joint by e.g. a conical gear turning the first joint will cause the second joint to move too when no measures are taken. [Todo: add mechanical equivalent circuit diagram to make this more clear] [Todo: discuss methods for preventing or compensating that, e.g. small angle designs]
Examples of stiffened classical robot arms potentially suitable for APM systems:
- K. Eric Drexlers robot arm design [add reference]. It mitigates the "unintended differential bearing effect" by using flexible nanotubes and a very high gearing ratios.
- Another design by J. Storrs Hall [1] [Todo: analyze and shortly discuss]
Parallel robots
- steward plattform
- parallel mechanics form industrial designs and DIY 3D printers
Further criteria
Classification based on bearing types
- designs avoiding sliding rails
- designs avoiding ball bearings
Use cases of robotic manipulators in APM systems
- robotic mechanosyntesis cores
- DME assembly robotics
- microcomponent assembly robotics
- higher level convergent assembly robotics
