Design and Control of a Multi-jointed Robot Finger Driven by an Artificial Muscle Actuator
| Autor: | DukSang Kim, Youngkwan Lee, Jae-Do Nam, Hyouk Ryeol Choi, Hyungpil Moon, Nguyen Huu Chuc, Nguyen Huu Lam Vuong, Ja Choon Koo |
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| Rok vydání: | 2010 |
| Předmět: |
Engineering
Robot kinematics business.industry Snake-arm robot Control engineering Mobile robot Linear actuator Robot end effector Computer Science::Other Computer Science Applications Robot control law.invention Computer Science::Robotics Human-Computer Interaction Hardware_GENERAL Computer Science::Systems and Control Hardware and Architecture Control and Systems Engineering Articulated robot Control theory law ComputerSystemsOrganization_SPECIAL-PURPOSEANDAPPLICATION-BASEDSYSTEMS business Actuator Software |
| Zdroj: | Advanced Robotics. 24:1983-2003 |
| ISSN: | 1568-5535 0169-1864 |
| Popis: | In this paper, we present a robotic actuation system using an artificial muscle actuator based on a dielectric elastomer. A novel linear actuator called a 'multi-stacked actuator' is proposed that can be embedded in the phalanges of a multi-jointed robot finger. This actuator ensures a compact design of the overall system. As an example, a 2-d.o.f. robot finger is developed and its performance under the proposed actuator system is experimentally demonstrated. The application of the proposed system can be extended easily to a multifingered robot hand and even to articulated mechanisms such as legged robots, etc. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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