Abstract
This paper gives an optimal design of 2 DOF arm with reconfigurable joints. A reconfigurable joint convert, a translational joint into a rotational joint and vise versa. First we review the proposed reconfigurable joints. Second we give a design method for the 2 DOF arm with respect to the manipulating force, the working area and the contact safety. Finally, the validity of the method is confirmed by numerical simulations.
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