A bio-inspired compliant parallel mechanism for high-precision robots

Hiroaki Kozuka, Jumpei Arata, Kenji Okuda, Akinori Onaga, Motoshi Ohno, Akihito Sano, Hideo Fujimoto

Research output: Chapter in Book/Report/Conference proceedingConference contribution

7 Citations (Scopus)

Abstract

In this paper, a compliant parallel mechanism with high precision and a wide working area is presented. A compliant parallel mechanism is a parallel mechanism in which all of the joints are deformable elastic joints. The presented mechanism is composed of circular compliant joints that have been inspired by Drakaea, which is an orchidaceous species. From our analytical and experimental tests, it was revealed that these circular compliant joints have desirable characteristics for composing a compliant parallel mechanism. Based on these primary experimental results, we developed a 3-DOF compliant parallel mechanism for an optic component positioning machine. The prototype evaluation tests revealed the mechanism's advantageous characteristics.

Original languageEnglish
Title of host publication2012 IEEE International Conference on Robotics and Automation, ICRA 2012
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages3122-3127
Number of pages6
ISBN (Print)9781467314039
DOIs
Publication statusPublished - Jan 1 2012
Externally publishedYes
Event 2012 IEEE International Conference on Robotics and Automation, ICRA 2012 - Saint Paul, MN, United States
Duration: May 14 2012May 18 2012

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Other

Other 2012 IEEE International Conference on Robotics and Automation, ICRA 2012
CountryUnited States
CitySaint Paul, MN
Period5/14/125/18/12

All Science Journal Classification (ASJC) codes

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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