Development of Articulated Manipulators with Pneumatic Cylinders

Yukio Kawakami, Kazuhisa Ito, Masashi Ogawa, Akiyoshi Horikawa, Koji Shioda, Kiono Nagai

Research output: Contribution to journalArticlepeer-review

2 Citations (Scopus)


We have developed new articulated manipulators with compact pneumatic cylinders and with the high levels of structural flexibilities and safety as a result of adoption of new ideas in the structure. In developing the new articulated manipulators, we have first defined the design concepts and then described the overview of the manipulators which we have actually designed and manufactured. We have carried out experiments with the manufactured articulated manipulators for their positional controllability and stiffness characteristics, the results of which are also reported in this paper. Furthermore, this paper refers to possible applications of the developed new articulated manipulators.

Original languageEnglish
Pages (from-to)478-484
Number of pages7
JournalInternational Journal of Automation Technology
Issue number4
Publication statusPublished - 2011 Jul


  • Articulated manipulator
  • Flexibility direct drive joint
  • Pneumatic cylinder
  • Pressure control

ASJC Scopus subject areas

  • Mechanical Engineering
  • Industrial and Manufacturing Engineering


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