Parallel Linkage

1. Concept & Motivation

A parallel linkage was chosen as the structure of the robotic arm for weight reduction purposes. During early design phases, it was observed that the shoulder motor would require significantly high torque requirements to handle the rest of the arm. These high torque requirements are induced by the considerable length of the robotic arm (aiming for a reach of around 1m) but also because of the weight of created by the elbow motor that results in a significant increase in inertia.

Figure 1

2. Design & Materials