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Kinematic Analysis of Robotic Bevel-Gear Trains - November/December 1986

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Archive > 1986 > November/December 1986 > Kinematic Analysis of Robotic Bevel-Gear Trains

The article "Kinematic Analysis of Robotic Bevel-Gear Trains" appeared in the November/December 1986 issue of Gear Technology.

Summary
In robot configurations it is desirable to be able to obtain an arbitrary orientation of the output element or end-effector. This implies a minimum of two independent rotations about two (generally perpendicular) intersecting axes. If, in addition, the out element performs a mechanical task such as in manufacturing or assembly (e.g., drilling, turning, boring, etc.) it may be necessary for the end-effector to rotate about its axis. If such a motion is to be realized with gearing, this necessitates a three-degree-of-freedom, three-dimensional gear train, which provides a mechanical drive of gyroscopic complexity; i.e., a drive with independently controlled inputs about three axes corresponding to azimuth, nutation, and spin.

Keywords
bevel gears, robotics, kinematics

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