A Light Weight Arm Designed with Modular Joints

Fang, Honggen; Guo, Liang; Bai, Shaoping

doi:10.1007/978-3-319-18126-4_5

Cited by 8 publications

(3 citation statements)

References 6 publications

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“…A lighter arm will also be less restrictive on the allowable user weight as specified by the wheelchair manufacturer. In order to achieve this, lightweight robots are normally designed using two approaches [3]. One approach is to design cable-driven robots by the allocation of motors in the base and transmission of their motions to the joints by tendon-like mechanisms, e.g.…”

Section: Introductionmentioning

confidence: 99%

Development of a Modular Light-Weight Manipulator for Human-Robot Interaction in Medical Applications

Kurnicki

Stanczyk²

2020

IAPGOS

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The article focuses on the design and implementation of mechanics, electronics and control system for a light-weight, modular, robotic manipulator for performing activities that require robot-human interaction in selected medicine-related applications. At the beginning, the functional requirements and physical architecture of such manipulator are discussed. The structure and control systems of the essential manipulator components/joint modules are presented in detail. Next, we introduce the software architecture of the master controller. Finally, examples of the current implementations of the modular manipulator are given.

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Section: Introductionmentioning

confidence: 99%

Development of a Modular Light-Weight Manipulator for Human-Robot Interaction in Medical Applications

Kurnicki

Stanczyk²

2020

IAPGOS

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“…The modular design is an effective way to achieve a compact design. A mechanism can help reduce moving 581 inertia by using five-bar mechanism for end-effector movement as shown in [4][5][6]. A cable transmission system can reduce energy consumption by relocating the actuators to the base [7].…”

Section: Introductionmentioning

confidence: 99%

Design of high performance DC motor actuated cable driving system for compact devices

Direkwatana

Suthakorn

2020

IJPEDS

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The cable transmission is widely used in the remote operation or complex geometry with high stiffness and low backlash. Larger drum is required to reduce and error of transmission in long stroke. An error of the desired position occurs due to the fleet angle while cable winding on a drum. Therefore, a new cable driving module which overcomes this problem is proposed. A new cable driving module with a sliding platform is connected to the actuator unit. A motion of the sliding platform is corresponding to a screw rod connected to an actuator. The precision of the driving system is measured by a high-resolution rotatory encoder and high gear ratio actuator. Results are measured by load and error of the system. A load of system shows a performance of overall translation and rotation of the drum at different speeds. An error of the system is measured from forward and reverse direction by increasing and decreasing the number of turns with constant speed. A system has an average load consumption along a long stroke of cable winding which has no significant problem on the screw platform. Multiple turns have low error value in specific and continuous turn in forward and reverse motion. A new cable driving system is proved in precision movement. The fleet angle is eliminated in new mechanism. Along with a constraint motion, there is no significant change in load consumption. An error is low value in a different direction of movement. Hence, a new design of cable transmission can perform in high performance and small size of the system.

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“…Besides this, lightweight manipulators have a higher payload to weight ratio in comparison to conventional devices [1]. Actuators are the major component, and they significantly contribute to the weight of the manipulator [1][2][3]. Therefore, the general strategy for designing lightweight manipulators involves designing them with reduced actuators or locating the actuators and heavy joint components at the base.…”

Section: Introductionmentioning

confidence: 99%

Design of a bistable electromagnetic coupling mechanism for underactuated manipulators

Kaluarachchi

Yahya

et al. 2018

Smart Mater. Struct.

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Electromagnetic clutches have been widely used in underactuated lightweight manipulator designs as a coupling mechanism due to their advantages of fast activation and electrical controllability. However, an electromagnetic clutch consumes electrical energy continuously during its operation. Furthermore, conventional electromagnetic clutches are not fail-safe in unexpected power failure conditions. These factors have a significant impact on the energy efficiency and the safety of the design, and these are vital aspects for underactuated lightweight manipulators. This paper introduces a bistable electromagnetic coupling mechanism design, with reduced energy consumption and with a fail-safe mechanism. The concept of a bistable electromagnetic mechanism consists of an electromagnet with two permanent magnets. The design has the capability to maintain stable mechanism states, either engaged or disengaged, without a continuous electrical power supply, thus enhancing fail-safety and efficiency. Moreover, the design incorporates the advantages of conventional electromagnetic clutches such as rapid activation and electrical controllability. The experimental results highlight the effectiveness of the proposed mechanism in reducing electric energy consumption. Besides this, a theoretical model is developed and a good correlation is achieved between the theoretical and experimental results. The reduced electric energy consumption and fail-safe design make the bistable electromagnetic mechanism a promising concept for underactuated lightweight manipulators.

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A Light Weight Arm Designed with Modular Joints

Cited by 8 publications

References 6 publications

Development of a Modular Light-Weight Manipulator for Human-Robot Interaction in Medical Applications

Development of a Modular Light-Weight Manipulator for Human-Robot Interaction in Medical Applications

Design of high performance DC motor actuated cable driving system for compact devices

Design of a bistable electromagnetic coupling mechanism for underactuated manipulators

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