Design Considerations for an Earth Based Flexible Robotic System
MASSACHUSETTS INST OF TECH CAMBRIDGE ARTIFICIAL INTELLIGENCE LAB
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This paper provides insights into the problems of designing a robot with joint and link flexibility. The relationship between the deflection of the robot under gravity is correlated with the fundamental frequency of vibration. The authors consider different types of link geometry and evaluate the flexibility potential of different materials. Some general conclusions and guidelines for constructing a flexible robot are given. Keywords Vibration Gravity loading Arms.