Design and implementation of a new discretely-actuated manipulator

被引：0

作者：

Suthakorn, J ^{[1
]}

Chirikjian, GS ^{[1
]}

机构：

[1] Johns Hopkins Univ, Dept Mech Engn, Baltimore, MD 21218 USA

来源：

EXPERIMENTAL ROBOTICS VII | 2001年 / 271卷

关键词：

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

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.

引用

页码：151 / 157

页数：7

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