Design studies in progress on a special purpose robot are described. The robot is to be used for ultrasonic inspection of extruded and forged parts immersed in water in a large tank. The studies focus on establishing the ...

A new strategy of robot operation, the bracing strategy, is presented. Under this strategy an arm is moved into position then rigidized by bracing against either the work piece or an auxiliary, static structure. Subsequent ...

This paper addresses the relationship between the weight of DC moving-coil permanent-magnet motors and the requirements for the driven motion. The requirements for motion are assumed to be made in terms of a maximum absolute ...

To enable faster robot arm motion one might reduce the arm weight and use a minimum time control. Light arms will be flexible. A simple example of a light arm is a single beam, rotating about one end, and subject to bending. ...