TY - GEN
T1 - Development of new articulated manipulators with compact pneumatic cylinders
AU - Murayama, Eiji
AU - Kawakami, Yukio
AU - Ito, Kazuhisa
AU - Horikawa, Akiyoshi
AU - Shioda, Koji
AU - Ogawa, Masashi
PY - 2012/10/23
Y1 - 2012/10/23
N2 - 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.
AB - 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.
KW - articulated manipulator
KW - flexibility direct drive joint
KW - pneumatic cylinder
KW - pressure control
UR - http://www.scopus.com/inward/record.url?scp=84867623760&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84867623760&partnerID=8YFLogxK
U2 - 10.1109/ICMA.2012.6283239
DO - 10.1109/ICMA.2012.6283239
M3 - Conference contribution
AN - SCOPUS:84867623760
SN - 9781467312776
T3 - 2012 IEEE International Conference on Mechatronics and Automation, ICMA 2012
SP - 766
EP - 771
BT - 2012 IEEE International Conference on Mechatronics and Automation, ICMA 2012
T2 - 2012 9th IEEE International Conference on Mechatronics and Automation, ICMA 2012
Y2 - 5 August 2012 through 8 August 2012
ER -