29 October 1996 Development of a hybrid robot arm for propeller grinding
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This paper will develop a hybrid robot arm for propeller blade grinding. The grinding work requires a high stiffness robot arm to reduce deformation and vibration. The hybrid robot arm is proposed by combining a parallel and a serial mechanism. The parallel mechanism supports a moving platform by three active and one passive leg so that it provides high stiffness but small workspace. To compensate the small workspace, the serial mechanism, which is the wrist of the robot arm, is mounted in the moving platform. Therefore, the robot arm has the large range of workspace as well as high stiffness.
© (1996) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Byung Oh Choi, Min Ki Lee, "Development of a hybrid robot arm for propeller grinding", Proc. SPIE 2904, Intelligent Robots and Computer Vision XV: Algorithms, Techniques,Active Vision, and Materials Handling, (29 October 1996); doi: 10.1117/12.256309; https://doi.org/10.1117/12.256309


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