Motor positioning and drive train design for a 3-DOF robotic structure

Abstract

This paper introduces a systematic approach to the drive train design and positioning of motors for 3 DOF robotic arms for a new kind of parallel-kinematic manipulator. After a short introduction into the state of the art, the methodology and main considerations are presented and applied to gain a set of principle solutions for possible drive-trains for every link. Combining this principle solutions, nine concepts for the robotic arm are developed. © Springer Science+Business Media Dordrecht 2013.