2A1-N07 Autonomous formation of object clusters on vertical plane(Robotic systems based on autonomous decentralized architecture)

2013 ◽  
Vol 2013 (0) ◽  
pp. _2A1-N07_1-_2A1-N07_2
Author(s):  
Takamasa TAHARA ◽  
Masato ISHIKAWA ◽  
Yasuhiro SUGIMOTO ◽  
Koichi OSUKA
Keyword(s):  
Vertical Plane ◽  
Robotic Systems ◽  
Decentralized Architecture

Modular Advantage and Kinematic Decoupling in Gravity Compensated Robotic Systems

2013 ◽  
Vol 5 (4) ◽  
Author(s):  
Nick Eckenstein ◽  
Mark Yim
Keyword(s):  
Vertical Plane ◽  
Robotic Systems ◽  
Gravity Compensation ◽  
Pulley System ◽  
Free Length ◽  
Low Profile ◽  
Serial Chain ◽  
Manipulator Arm ◽  
Spring Method ◽  
Position And Orientation

Two new designs for gravity compensated modular robotic systems are presented and analyzed. The gravity compensation relies on using zero-free-length springs approximated by a cable and pulley system. Simple yet powerful parallel four-bar modules enable the low-profile self-contained modules with sequential gravity compensation using the spring method for motion in a vertical plane. A second module that is formed as a parallel six-bar mechanism adds a horizontal motion to the previous system that also yields a complete decoupling of position and orientation of the distal end of a serial chain. Additionally, we introduce the concept of vanishing effort where as the number of modules that comprise an articulated serial chain increases, the actuation authority required at any joint reduces. Essentially, this results in a method for distributing actuation along the length of an articulated chain. Prototypes were designed and constructed validating the analysis and accomplishing the functions of a general serial-type manipulator arm.

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