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Double Screwed Drive Mechanism

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Uploaded by on Dec 21, 2009

A semester project of UM-SJTU JI course VM467 (Intro to Robotics)

A double screw mechanism attached to a Stanford manipulator exploring its workspace. Simulated results are based on the paper by [1]C. Ishii and K. Kobayashi, "Development of a New Bending Mechanism and Its Application to Robotic Forceps Manipulator," in IEEE International Conference on Robotics and Automation (ICRA), Roma, Italy, 2007, pp. 238-243.

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  • Did you define your path first and then use inverse kinematics to determine the range of angles? Are you using Matlab?

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