Application of fixed-arm robots in such manipulative machinery
as those used in welding, cutting, packaging etc, has been limited
due either to insufficient rigidity in the arm for the transmission
of large forces and torques, or to the high cost of improving upon
This work develops a cheap robotic device in the form of a
linkage mechanism and tests it on a laboratory rig for positional
accuracy. The closed-loop nature of the mechanism ensures sufficient
rigidity, and system vibrations are greatly checked. The
goal is to use this device for such jobs as the optimization of
cam profiles prior to cutting them, guidance of a cutting torch,
welding of flat and spherical surfaces, etc. A number of these
devices can be arranged around a working space to perform a set
of tasks. Put differently, this is an exercise in digital control
of machine elements [continued]...
A Doctoral Thesis. Submitted in partial fulfilment of the requirements for the award of Doctor of Philosophy of Loughborough University.