Design and Control Mechanisms for a 3 DOF Bionic Manipulator

Author

Klug, Sebastian ; Von Stryk, Oskar ; Möhl, Bernhard

Author_Institution

Fachbereich Simulation & Systemoptimierung, Technische Univ. Darmstadt

fYear

2006

fDate

20-22 Feb. 2006

Firstpage

450

Lastpage

454

Abstract

Functionality and design of a bionic robot arm consisting of three joints driven by elastic and compliant actuators derived from biologically inspired principles are presented. In the first design standard springs with linear characteristics are utilized in combination with electrical drives. Different control approaches for the bionic robot arm are presented, discussed and evaluated by numerical simulations and experiments with regards to the long-term goal of a nature-like control performance

Keywords

actuators; ballistics; biocybernetics; biomimetics; electric drives; manipulator dynamics; mobile robots; springs (mechanical); ballistic movement; biologically inspired principle; bionic manipulator design; bionic robot arm; compliant actuator; control mechanism; electrical drive; joint control; linear characteristics; serial elastic actuator; spring design; trajectory optimization; Actuators; Biological control systems; Couplings; End effectors; Industrial control; Manipulators; Service robots; Springs; Stress; Trajectory;

fLanguage

English

Publisher

ieee

Conference_Titel

Biomedical Robotics and Biomechatronics, 2006. BioRob 2006. The First IEEE/RAS-EMBS International Conference on

Conference_Location

Pisa

Print_ISBN

1-4244-0040-6

Type

conf

DOI

10.1109/BIOROB.2006.1639129

Filename

1639129