Optimized binary modular reconfigurable robotic devices

被引：64
|
作者：
Hafez, M [1 ]
Lichter, MD
Dubowsky, S
机构：
[1] French Atom Energy Commiss, CEA, F-92265 Fontenay Aux Roses, France
[2] MIT, Dept Mech Engn, Cambridge, MA 02139 USA
来源：
IEEE-ASME TRANSACTIONS ON MECHATRONICS | 2003年 / 8卷 / 01期
基金：
美国国家航空航天局;
关键词：
binary robotics; bistable mechanisms; digital mechatronics; electromagnetic actuators; flexures;
D O I：
10.1109/TMECH.2003.809156
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Binary robotic devices with large degrees of freedom have been proposed by a number of researchers. However, experimental implementations of these concepts have been built with conventional components. These physical systems are heavy, complex and far from being practical devices. In this paper, a lightweight, compliant mechanism driven by optimized magnet-coil actuators is proposed and developed as an element for modular hyper-redundant degrees of freedom robotic systems. Such elements could be used in a number of applications and would replace conventional, complex, and heavy components. The device has a parallel kinematic structure. Its binary actuation simplifies its control architecture.
引用
收藏
页码：18 / 25
页数：8
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