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
收藏
页码：151 / 157
页数：7
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