Title :
Portable serial robot manipulator with distributed actuation mechanism
Author :
Sung-Hwan Kim ; Byungho Yoon ; Ho Ju Lee ; Soohyun Kim ; Kyung-Soo Kim ; Jong Cheol Kim ; Tae Yang Noh
Author_Institution :
Dept. of Mech. Eng., KAIST, Daejeon, South Korea
Abstract :
In this paper, a portable robot manipulator is developed with distributed actuation mechanism. In order to achieve the high performance and suitable size simultaneously, a distributed actuation mechanism is implemented. The proposed robot manipulator has several advantages such as high payload capacity and small size with high efficiency. In particular, a folding function is adopted for the portability. Prototype 2-DOF manipulator is developed, and the performance is experimentally verified.
Keywords :
actuators; design engineering; manipulator kinematics; mobile robots; distributed actuation mechanism; folding function; payload capacity; performance verification; portable serial mobile robot manipulator development; prototype 2-DOF manipulator development; robot efficiency; small-sized robot; Actuators; Manipulators; Payloads; Torque; Distributed actuation mechanism; Mobile robot manipulator; Portable robot manipulator;
Conference_Titel :
Control, Automation and Systems (ICCAS), 2014 14th International Conference on
Conference_Location :
Seoul
Print_ISBN :
978-8-9932-1506-9
DOI :
10.1109/ICCAS.2014.6987826
