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Design and development of an experimental flexiblemanipulator system

Published online by Cambridge University Press:  01 May 1997

M. O. Tokhi and
A. K. M. Azad
M. O. Tokhi
Affiliation:
Department of Automatic Control and Systems Engineering, The University of Sheffield, Mappin Street, Sheffield S1 3JD, UK. E-mail: O.Tokhi@sheffield.ac.uk
A. K. M. Azad
Affiliation:
Department of Automatic Control and Systems Engineering, The University of Sheffield, Mappin Street, Sheffield S1 3JD, UK. E-mail: O.Tokhi@sheffield.ac.uk
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Abstract

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This paper presents the design and development of a laboratory facilityconstituting a constrained planar flexible manipulator system. The system isdesigned for experimental investigations within research programmes involvingflexible manipulator systems. An outline of a generic design procedure forflexible manipulator systems is given. The design criteria developed throughthis procedure account for the strength and stiffness of the manipulator and therequired transducers and instrumentation. These are considered in detail and thesystem designed accordingly. Finally, practical problems encountered arehighlighted and methods of dealing with such problems are presented anddiscussed.

Keywords

Flexible systemManipulatorsLaboratory design

Information

Type
Research Article
Information
Robotica , Volume 15 , Issue 3 , May 1997, pp. 283 - 292
Copyright
© 1997 Cambridge University Press