Studies of a Direct Drive Robot with a Parallel Configuration
Final rept. 1 Sep 1989-30 Sep 1990,
NORTH CAROLINA AGRICULTURAL AND TECHNICAL STATE UNIV GREENSBORO DEPT OF MECHANICAL ENGINEERING
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A new, light weight, six degrees of freedom, direct drive robot is studied in this project. The robot has a dual-arm, or a semi-parallel configuration, and it has the characteristics between those of a serial robot and those of a parallel robot. That is, it has a large payload-to-weight ratio and high stiffness of a parallel robot and a large workspace, compact structure, and simple control algorithm of a serial robot. Because of the use of direct drive motors and composite materials, the robot is light weight and has high precision. Different robot configurations are synthesized for different motion requirements. Motion and force analysis are carried out in the project, and motion simulation programs are completed. Possible army applications are explored.