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Design of reconfigurable manipulation assist aids by fourier methods

McGill University
Publication Date
  • Engineering
  • Mechanical.
  • Design


We examine the use of a manipulator configuration called Single Degree-of-freedom Coupled Serial Chains (SDCSC). Such SDCSC configurations combine the motion flexibility due to multiple articulations with the simplicity of reduced-degree-of-freedom control and actuation due to the presence of hardware constraints and offer a low-cost alternative to expensive robotic manipulators. Our interest is in designing manipulators, based on such an SDCSC configuration, whose end-effector can match or closely approximate a set of positions along a desired planar path in the so-called Path Following problem.

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