In this paper, the application of Rapid Prototyping in fabricating non-assembly robotic systems and mechanisms is presented. Using two Rapid Prototyping techniques, Stereolithography and Selective Laser Sintering, prototypes of mechanical mobile joints were fabricated. The designs of these component joints were then used to fabricate the articulated structure of experimental prototypes for two robotic systems: (1) a three-legged parallel manipulator, (2) a four degree-of-freedom finger of a five-fingered robotic hand. These complex multi-articulated, multi-link, multi-loop systems have been fabricated in one step, without requiring assembly while maintaining their desired mobility. The feasibility and usefulness of Rapid Prototyping as a method for the fabrication of these non-assembly type mechanisms and robotic systems is the focus of this work.
Fabrication of Non-Assembly Mechanisms and Robotic Systems Using Rapid Prototyping
Contributed by the Mechanisms and Robotics Committee for publication in the JOURNAL OF MECHANICAL DESIGN. Manuscript received Aug. 2000. Associate Editor: J. S. Rastegar.
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Mavroidis, C., DeLaurentis, K. J., Won, J., and Alam, M. (August 1, 2000). "Fabrication of Non-Assembly Mechanisms and Robotic Systems Using Rapid Prototyping ." ASME. J. Mech. Des. December 2001; 123(4): 516–524. https://doi.org/10.1115/1.1415034
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