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The objective of this paper is to develop a six D.O.F robot arm for an intelligent robot. As for the shoulder part, the harmonic drive, which has some advantages (such as zero backlash, small volume, and high reduction ratio), was used to ensure the weight of the whole arm could be supported. The kinematic equations of the robot arm have been verified in this paper. As for the links of a robot arm,...
This paper presents a 6-DOF robot arm system, proposed a strategy for solving the inverse kinematics equations, using the robot arm assembled by seven AI servos (RX-64), set up robot's coordinate system with the D-H notation method. The motion trajectory of a robot arm is calculated using the geometric analysis. It was considered as the length of robot arm and motion angle in the whole system. To...
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