Design and implementation of a new discretely-actuated manipulator
J Suthakorn, GS Chirikjian�- Experimental Robotics VII, 2002 - Springer
Experimental Robotics VII, 2002•Springer
This paper presents a new 3-D design of a discretely-actuated robot manipulator powered
by binary actuators. Binary actuators have two stable states, which are, for example, closed
(0) and open (1). Major benefits of this kind of discretely-actuated manipulator are
repeatability, relatively low cost, and no need for feedback control. In addition, hyper-
redundancy allows tasks to be performed even when some actuators fail. A prototype of the
new 3-D design is presented in this paper.
by binary actuators. Binary actuators have two stable states, which are, for example, closed
(0) and open (1). Major benefits of this kind of discretely-actuated manipulator are
repeatability, relatively low cost, and no need for feedback control. In addition, hyper-
redundancy allows tasks to be performed even when some actuators fail. A prototype of the
new 3-D design is presented in this paper.
Abstract
This paper presents a new 3-D design of a discretely-actuated robot manipulator powered by binary actuators. Binary actuators have two stable states, which are, for example, closed (0) and open (1). Major benefits of this kind of discretely-actuated manipulator are repeatability, relatively low cost, and no need for feedback control. In addition, hyper-redundancy allows tasks to be performed even when some actuators fail. A prototype of the new 3-D design is presented in this paper.
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