Difference between revisions of "Robotic manipulator"
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[Todo: add intro] | [Todo: add intro] | ||
| − | == | + | == Serial robots == |
Purely mechanical serial robotics can expose the problem of unintended differential bearings. | Purely mechanical serial robotics can expose the problem of unintended differential bearings. | ||
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turning the first joint will cause the second joint to move too when no measures are taken. | 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:''' add mechanical equivalent circuit diagram to make this more clear] | ||
| − | ['''Todo:''' discuss methods for preventing or compensating that] | + | ['''Todo:''' discuss methods for preventing or compensating that, e.g. small angle designs] |
| − | Examples: | + | 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. | * 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 [http://www.foresight.org/Conferences/MNT6/Papers/Hall/] [Todo: analyze and shortly discuss] | * Another design by J. Storrs Hall [http://www.foresight.org/Conferences/MNT6/Papers/Hall/] [Todo: analyze and shortly discuss] | ||
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* parallel mechanics form industrial designs and DIY 3D printers | * parallel mechanics form industrial designs and DIY 3D printers | ||
| − | == | + | == Classification based on bearing types == |
| − | |||
* designs avoiding sliding rails | * designs avoiding sliding rails | ||
* designs avoiding ball bearings | * designs avoiding ball bearings | ||
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Revision as of 12:52, 26 January 2014
[Todo: add intro]
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
Classification based on bearing types
- designs avoiding sliding rails
- designs avoiding ball bearings
