Structuere, Kinematics, Constructive Design and Command for a Mobile Telethesis
نویسنده
چکیده
In this paper, for the first, some general aspects regarding teletheses are presented. There are distinguished the main types of teletheses: fixed or mobile teletheses. A reference telethesis is described and the main cinematic determinations for forward and inverse kinematics are done. As a typical example, STAR 2, the mobile telethesis is described. For this telethesis, it was made one constructive design and a CAD model. The telethesis is equipped with an anthropomorphic gripping system, with five fingers like the human hand. To optimize it functionally and constructively it was achieved a functional simulation of the CAD model..One command scheme is shown too.
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