Super Multi-Joint Manipulator by Using Creased Plate and Pneumatic Actuators Arranged Antagonistically

被引：3

作者：

Kikuchi, Shunon ^{[1
]}

Yamada, Yasuyuki ^{[3
]}

Higashi, Ryoichi ^{[1
]}

Morita, Toshio ^{[2
]}

机构：

[1] Keio Univ, Grad Sch Sci & Technol, 3-14-1 Hiyoshi, Yokohama, Kanagawa 2238522, Japan

[2] Keio Univ, Dept Mech Engn, Yokohama, Kanagawa 2238522, Japan

[3] Tokyo Inst Technol, Dept Mech & Aerosp Engn, Meguro Ku, Tokyo 1528552, Japan

来源：

JOURNAL OF ROBOTICS AND MECHATRONICS | 2015年 / 27卷 / 03期

关键词：

manipulation; winding grasp; pneumatic actuator; super multi-joint manipulator;

D O I：

10.20965/jrm.2015.p0276

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

The new super multi-joint manipulator mechanism we introduce in this paper is constructed from a long flexible resinous plate in the center of the manipulator and a pneumatic actuator the same length as the arm arranged antagonistically. The number of power transmission mechanism is fewer than that of joints. Specialized in a winding grip, the mechanism is light and simple. From the effect of this property, the manipulator could be easily extended in the length. The experimental mechanism mode was developed and several experiments were conducted, such as driving on the vertical plane, grasping some objects and moving with flow rate adjustment. As a result, the manipulator could drive on the vertical plane, winds cylinders of 50-200 mm in diameter and controls winding behavior.

引用

页码：276 / 285

页数：10

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