The pitch and yaw motion coupling research on bionic arm

DOI

10.2991/icmmcce-15.2015.118How to use a DOI?

Keywords

bionic arm; pitch; yaw; motion coupling

Abstract

The applications of redundant manipulator are more and more widely in the automobile manufacturing industry and aerospace fields. In this paper, the omnidirectional joint unit mechanism is improved and redundant snake-like manipulator of full range PYR series is designed. The composition, working principle, performance index and the joint improved structure of PY (PYR) singular omnidirectional joint are introduced. The formulas of improved PYR type joint also are given. The same as, two types of joint design are combined into a 11 degree of freedom 5 joint robot arm which using slider crank mechanism to solve the pitch and yaw motion coupling problem.

Copyright

© 2015, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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TY  - CONF
AU  - Tieyu Hu
AU  - Limin Song
AU  - Kai Zhao
AU  - Xiujuan Liu
AU  - Chunguang Wang
PY  - 2015/12
DA  - 2015/12
TI  - The pitch and yaw motion coupling research on bionic arm
BT  - Proceedings of the 4th International Conference on Mechatronics, Materials, Chemistry and Computer Engineering 2015
PB  - Atlantis Press
SP  - 584
EP  - 587
SN  - 2352-538X
UR  - https://doi.org/10.2991/icmmcce-15.2015.118
DO  - 10.2991/icmmcce-15.2015.118
ID  - Hu2015/12
ER  -