DocumentCode
2233989
Title
Float arm V: hyper-redundant manipulator with wire-driven weight-compensation mechanism
Author
Hirose, Shigeo ; Ishii, Takuro ; Haishi, Atsuo
Author_Institution
Dept. of Mechano-Aerosp. Eng., Tokyo Inst. of Technol., Japan
Volume
1
fYear
2003
fDate
14-19 Sept. 2003
Firstpage
368
Abstract
In this paper, the wire-driven weight-compensation mechanism is proposed. This mechanism consists of a parallelogram linkage mechanism that has an extended portion with the wired double pulley. This is a lighter solution compared to others since no springs are utilized. Below, a detailed description of this new weight-compensation mechanism and performances of Float Arm V with this new mechanism are given.
Keywords
end effectors; pulleys; redundant manipulators; Float Arm V; end-effector; hyper-redundant manipulator; parallelogram linkage mechanism; serial link mechanism; weight-compensation force; wire tension; wire-driven weight-compensation mechanism; wired double pulley; Actuators; Belts; Couplings; Gears; Joining processes; Manipulators; Pulleys; Springs; Torque; Wire;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2003. Proceedings. ICRA '03. IEEE International Conference on
ISSN
1050-4729
Print_ISBN
0-7803-7736-2
Type
conf
DOI
10.1109/ROBOT.2003.1241623
Filename
1241623
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