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Abstract: A new type of single input and two outputs nonholonomic
transmissions mechanism are proposed based on the nonholonomic theory
and nonlinear control principle. An application of manipulator is
described with the nonholonomic transmissions mechanism in place. The
kinematics analysis result shows that the structure is simple, the
weight is low, and the control is easy for the manipulator which is
controlled only by two actuates. This design gives a new method for the
design and research of light-weight robot and multi-finger robot hand.
Key words: Nonhlonomic constraints Opened-chain Mechanism
Manipulator Multi-joint
CLC No: TP241
国家863/CIMS主题资助项目(2001AA413620). 选自2000年第一届国际机械工程学术会议，20011010
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