Design, Manufacture and Experimental Analysis of 3R Robotic Manipulator

Design and manufacturing of a robotic manipulator with three degrees of freedom has been described in this paper. One of the parameters noticed in the design, has been installability of manipulator on a mobile base and beside that, the technical points of view related to mechanism manufacturing has been noticed. As a result of conclusion gained by researches, a three degree of freedom manipulator whose motion is gained by revolute joints was designed and manufactured. The first link does the revolution round the vertical axis and the second and third links do revolutional motions in the vertical plane. In fact the joint axes of these two links are parallel and both axis of links 2 and 3 are perpendicular to the axis of the first link. The effective height of the arm which is originated from the configuration of the first link and the its belonging base is 433 mm The effective length of the second and the third link are 250 mm and 125 mm, respectively.

کلیدواژه ها:

Robotics ، Design and Manufacturing ، Manipulator ، Performance Test