Details
| Originalsprache | Englisch |
|---|---|
| Titel des Sammelwerks | 2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010 |
| Seiten | 897-902 |
| Seitenumfang | 6 |
| Publikationsstatus | Veröffentlicht - Dez. 2010 |
| Extern publiziert | Ja |
| Veranstaltung | 2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010 - Tianjin, China Dauer: 14 Dez. 2010 → 18 Dez. 2010 |
Publikationsreihe
| Name | 2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010 |
|---|
Abstract
The paper presents the design of a hyper flexible robot, actuated by artificial muscles, based on the requirements of industrial assembly. The design process is inspired by biological examples and leads to a high-segmented kinematic structure with redundant degrees of freedom in order to increase the maneuverability of the robot. The actuators are arranged according to the agonist-antagonist principle of biological muscles to ensure the symmetric double sided deflection of the joints at each segment. Another advantage of the structure is the modular design. The mechanism is extendable by a simple, uniform mechanical interface. This contribution focuses on the mechanical structure, the kinematic behavior and the benefits of the chosen actuation principle in order to show the functionality of the robot. The prototype has six segments with twelve degrees of freedom, qualified by the corresponding number of actuators and their arrangement according to the mechanical structure. The end-effector has four coupled degrees of freedom, three translational and one rotational.
ASJC Scopus Sachgebiete
- Informatik (insg.)
- Artificial intelligence
- Biochemie, Genetik und Molekularbiologie (insg.)
- Biotechnologie
- Informatik (insg.)
- Mensch-Maschine-Interaktion
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- RIS
2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010. 2010. S. 897-902 5723445 (2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010).
Publikation: Beitrag in Buch/Bericht/Sammelwerk/Konferenzband › Aufsatz in Konferenzband › Forschung › Peer-Review
}
TY - GEN
T1 - Design of a hyper-flexible assembly robot using artificial muscles
AU - Schmitt, Jan
AU - Grabert, Frank
AU - Raatz, Annika
PY - 2010/12
Y1 - 2010/12
N2 - The paper presents the design of a hyper flexible robot, actuated by artificial muscles, based on the requirements of industrial assembly. The design process is inspired by biological examples and leads to a high-segmented kinematic structure with redundant degrees of freedom in order to increase the maneuverability of the robot. The actuators are arranged according to the agonist-antagonist principle of biological muscles to ensure the symmetric double sided deflection of the joints at each segment. Another advantage of the structure is the modular design. The mechanism is extendable by a simple, uniform mechanical interface. This contribution focuses on the mechanical structure, the kinematic behavior and the benefits of the chosen actuation principle in order to show the functionality of the robot. The prototype has six segments with twelve degrees of freedom, qualified by the corresponding number of actuators and their arrangement according to the mechanical structure. The end-effector has four coupled degrees of freedom, three translational and one rotational.
AB - The paper presents the design of a hyper flexible robot, actuated by artificial muscles, based on the requirements of industrial assembly. The design process is inspired by biological examples and leads to a high-segmented kinematic structure with redundant degrees of freedom in order to increase the maneuverability of the robot. The actuators are arranged according to the agonist-antagonist principle of biological muscles to ensure the symmetric double sided deflection of the joints at each segment. Another advantage of the structure is the modular design. The mechanism is extendable by a simple, uniform mechanical interface. This contribution focuses on the mechanical structure, the kinematic behavior and the benefits of the chosen actuation principle in order to show the functionality of the robot. The prototype has six segments with twelve degrees of freedom, qualified by the corresponding number of actuators and their arrangement according to the mechanical structure. The end-effector has four coupled degrees of freedom, three translational and one rotational.
UR - http://www.scopus.com/inward/record.url?scp=79952980606&partnerID=8YFLogxK
U2 - 10.1109/ROBIO.2010.5723445
DO - 10.1109/ROBIO.2010.5723445
M3 - Conference contribution
AN - SCOPUS:79952980606
SN - 9781424493173
T3 - 2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010
SP - 897
EP - 902
BT - 2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010
T2 - 2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010
Y2 - 14 December 2010 through 18 December 2010
ER -