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
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;
Conference_Titel :
Robotics and Automation, 2003. Proceedings. ICRA '03. IEEE International Conference on
Print_ISBN :
0-7803-7736-2
DOI :
10.1109/ROBOT.2003.1241623
