Development of a biarticular manipulator using spiral motors

Author

Shukor, Ahmad Zaki ; Smadi, Issam Abed ; Fujimoto, Yasutaka

Author_Institution

Dept. of Electr. & Comput. Eng., Yokohama Nat. Univ., Yokohama, Japan

fYear

2011

fDate

7-10 Nov. 2011

Firstpage

92

Lastpage

97

Abstract

This paper presents the design and development of a musculoskeletal-inspired robot manipulator using the third prototype of the spiral motor developed in our laboratory. The spiral motors represents the linear contraction/extension of the antagonistic muscles due to the high forward/backward drivability without any gears or mechanisms. Workspace was evaluated and simulations were done in some control schemes to compare the probable methods of workspace control. Finally, spiral motor control and experimental results were presented.

Keywords

machine control; manipulator kinematics; motion control; antagonistic muscles; biarticular manipulator; forward-backward drivability; linear contraction; linear extension; musculoskeletal-inspired robot manipulator; spiral motor control; Equations; Joints; Manipulators; Mathematical model; Muscles; Permanent magnet motors; Spirals; biarticular; computed torque control; inverse kinematics; musculoskeletal; planar parallel robots;

fLanguage

English

Publisher

ieee

Conference_Titel

IECON 2011 - 37th Annual Conference on IEEE Industrial Electronics Society

Conference_Location

Melbourne, VIC

ISSN

1553-572X

Print_ISBN

978-1-61284-969-0

Type

conf

DOI

10.1109/IECON.2011.6119294

Filename

6119294