URK: Utah Robot Kit - A 3-Link Robot Manipulator Prototype

In designing robot manipulators, the interaction between several modules (S/W, VLSI, CAD, CAM, Robotics, and Control) illustrates an interdisciplinary prototyping environment that includes different types of information that are radically different but combined in a coordinated way. This paper describes the analysis and design of a 3-link robot manipulator prototype as part of a research project for building a prototyping environment for electro-mechanical systems. This prototype robot will be used as an educational tool in robotics and control classes. lThis work was supported in part by DARPA grant N00014-91-J-4123, NSF grant CDA 9024721, and a University of Utah Research Committee grant. All opinions, findings. conclusions or recommendations expressed in this document are those of the author and do not necessarily reflect. the views of the sponsoring agencies. This report appears as a paper in the proceedings of the 1994 IEEE International Conference on Robotics and Automation. URK: Utah Robot Kit A 3-link Robot Manipulator Prototype Mohamed Dekhil, Tarek M. Sobh, and Thomas C. Henderson .. Department of Computer Science University of Utah Salt Lake City, Utah 84112