DESIGN OF A COMPUTER CONTROLLED MANIPULATOR.
Abstract
The report covers the preliminary system studies, the design process, and the design details associated with the design of a new computer controlled manipulator. A systems study of various manipulator configurations, force sensing methods, and suitable components and hardware was first performed. Based on this study, a general design concept was formulated. This concept was then developed into a detailed manipulator design, having six degrees of freedom, all electric motor powered. The manipulator has exceptionally high position accuracy, comparatively fast feedback servo performance, and approximately human arm reach and motion properties. Supporting some of the design details and selections are several examples of the design calculation procedure employed. (Author)
Document Details
- Document Type
- Technical Report
- Publication Date
- Jun 01, 1969
- Accession Number
- AD0708069
Entities
People
- Victor David Scheinman
Organizations
- Stanford University