Dynamics Analysis of Five-bar Cobot Based on Differential Mechanism
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Abstract
A new kind of CVT(Continuously Variable Transmission) and COBOT (Collaborative robot) based on differential mechanism is introduced. There are two kinds of COBOT models: the serial and parallel. The principle of COBOT is analyzed and the dynamic model of COBOT is established. Taking the five-bar COBOT as a prototype,the dynamics of serial and parallel COBOT model is developed.
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