URK: Utah Robot Kit-a 3-link robot manipulator prototype

Abstract

In designing robot manipulators, the interaction between several modules (S/W, VLSI, CAD, CAM, robotics, and control) illustrates an interdisciplinary prototyping environment that includes different types of information that are radically different but combined in a coordinated way. This paper describes the analysis and design of a 3-link robot manipulator prototype as part of a research project for building a prototyping environment for electromechanical systems. This prototype robot can be used as an educational tool in robotics and control classes.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>