Stackable 4-BAR mechanisms and their robotic applications
- Title
- Stackable 4-BAR mechanisms and their robotic applications
- Author
- 최영진
- Keywords
- Actuators; Driving joints; Mechanisms; Surgical robots; Light weight; Mechanical mechanisms; Robotics; Intelligent robots; Field robot; Robotic applications; Electrical actuators; Kinematic Analysis; Flexible manipulators; Robotic manipulators; Electrical
- Issue Date
- 2010-10
- Publisher
- IEEE
- Citation
- IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings, article no. 5651921, Page. 2792-2797
- Abstract
- This paper proposes a new planar robotic manipulator using stackable 4-BAR mechanisms for various applications such as a manipulator of surgical robot and a manipulator of field robot. The proposed manipulator has an advantage that all driving actuators can be separated from the mechanical mechanism, in other words, we are able to separate all electrical components such as electrical actuators and wirings from mechanical linkage/joint components in the robotic manipulator. Thus the robotic manipulator including working joints and linkages can be manufactured using one or a few material(s) with light-weight and slim-size. Also, the proposed mechanism does not require the actuators to attach directly to driving joints and it can be independently controlled. In addition, we suggest the kinematic analysis of the proposed manipulator composed of input mechanisms, multiple 4-BAR mechanisms and output mechanisms. Finally, a variety of simulation results and a prototype are suggested to show the effectiveness of the stackable 4-BAR mechanisms. ©2010 IEEE.
- URI
- https://ieeexplore.ieee.org/document/5651921https://repository.hanyang.ac.kr/handle/20.500.11754/180905
- ISSN
- 2153-0858;2153-0866
- DOI
- 10.1109/IROS.2010.5651921
- Appears in Collections:
- COLLEGE OF ENGINEERING SCIENCES[E](공학대학) > ROBOT ENGINEERING(로봇공학과) > Articles
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