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

页码：18 / 25

页数：8

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