For access to this article, please select a purchase option:
IET members benefit from discounts to all IET publications and free access to E&T Magazine. If you are an IET member, log in to your account and the discounts will automatically be applied.
Your recommendation has been sent to your librarian.
In this paper, a novel joint used for continuous manipulator is proposed that combines universal joint and spherical joint. By employing the joint, the influence of torsional freedom on spherical joint and the interference between a joint and a cable can be eliminated. Based on the idea, researches on the structural design and kinematics of the manipulator are developed. Then the workspace of the manipulator is described by using the Monte Carlo method and research on trajectory simulation of a single joint are done. According to the results of simulation, the theory of kinematics is verified and establishes the foundation for the following study.
Inspec keywords: trajectory control; Monte Carlo methods; cables (mechanical); manipulator kinematics
Subjects: Statistics; Monte Carlo methods; Manipulators; Spatial variables control; Robot and manipulator mechanics