TY - JOUR
T1 - Super multi-joint manipulator by using creased plate and pneumatic actuators arranged antagonistically
AU - Kikuchi, Shunon
AU - Yamada, Yasuyuki
AU - Higashi, Ryoichi
AU - Morita, Toshio
N1 - Publisher Copyright:
© 2015, Fuji Technology Press. All rights reserved.
PY - 2015/7/27
Y1 - 2015/7/27
N2 - The new super multi-joint manipulator mechanismwe introduce in this paper is constructed froma 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.
AB - The new super multi-joint manipulator mechanismwe introduce in this paper is constructed froma 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.
KW - Manipulation
KW - Pneumatic actuator
KW - Super multi-joint manipulator
KW - Winding grasp
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U2 - 10.20965/jrm.2015.p0276
DO - 10.20965/jrm.2015.p0276
M3 - Article
AN - SCOPUS:84937862712
VL - 27
SP - 276
EP - 285
JO - Journal of Robotics and Mechatronics
JF - Journal of Robotics and Mechatronics
SN - 0915-3942
IS - 3
ER -