Kinematic Analysis of Robotic Bevel-Gear Trains

摘要

A general procedure has been developed for the kinematic analysis of complex bevel-gear trains in which the motion of the arm can be of mobility two or greater (i.e. the arm can rotate about two or more nonparallel, intersecting axes). The analysis of a three-degree-of-freedom gear train used in guiding the motion of the end effector of a recently developed industrial robot is described in detail.