Stanford arm cinematics analysis and multibody modeling

Alessandro Acri, Cosimo Falvo, Rosario Forastiero


In this paper, the design of a robot Stanford is discussed. To this robot, it is assigned the task of moving some objects from an initial position to a final one. After having determined the parameter of Denavit-Hartenberg, the direct kinematics and the inverse kinematics of the mechanical arm is solved. Then its model multi-body was build up and, by the application realized, the appropriate verifications are done. From these verifications, it has been highlighted the efficiency of the model created for the design of a generic Stanford arm.

Reference Number:\doi:4.2017.2.1.53

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