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

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

doi:10.1109/ICRA.2012.6224873

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 proceeding › Conference contribution

11 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 language	English
Title of host publication	2012 IEEE International Conference on Robotics and Automation, ICRA 2012
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	3122-3127
Number of pages	6
ISBN (Print)	9781467314039
DOIs	https://doi.org/10.1109/ICRA.2012.6224873
Publication status	Published - Jan 1 2012
Externally published	Yes
Event	2012 IEEE International Conference on Robotics and Automation, ICRA 2012 - Saint Paul, MN, United States Duration: May 14 2012 → May 18 2012

Publication series

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

Other

Other	2012 IEEE International Conference on Robotics and Automation, ICRA 2012
Country/Territory	United States
City	Saint Paul, MN
Period	5/14/12 → 5/18/12

All Science Journal Classification (ASJC) codes

Software
Control and Systems Engineering
Artificial Intelligence
Electrical and Electronic Engineering

Access to Document

10.1109/ICRA.2012.6224873

Cite this

Kozuka, H., Arata, J., Okuda, K., Onaga, A., Ohno, M., Sano, A., & Fujimoto, H. (2012). A bio-inspired compliant parallel mechanism for high-precision robots. In 2012 IEEE International Conference on Robotics and Automation, ICRA 2012 (pp. 3122-3127). [6224873] (Proceedings - IEEE International Conference on Robotics and Automation). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRA.2012.6224873

A bio-inspired compliant parallel mechanism for high-precision robots. / Kozuka, Hiroaki; Arata, Jumpei; Okuda, Kenji et al.

2012 IEEE International Conference on Robotics and Automation, ICRA 2012. Institute of Electrical and Electronics Engineers Inc., 2012. p. 3122-3127 6224873 (Proceedings - IEEE International Conference on Robotics and Automation).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Kozuka, H, Arata, J, Okuda, K, Onaga, A, Ohno, M, Sano, A & Fujimoto, H 2012, A bio-inspired compliant parallel mechanism for high-precision robots. in 2012 IEEE International Conference on Robotics and Automation, ICRA 2012., 6224873, Proceedings - IEEE International Conference on Robotics and Automation, Institute of Electrical and Electronics Engineers Inc., pp. 3122-3127, 2012 IEEE International Conference on Robotics and Automation, ICRA 2012, Saint Paul, MN, United States, 5/14/12. https://doi.org/10.1109/ICRA.2012.6224873

Kozuka H, Arata J, Okuda K, Onaga A, Ohno M, Sano A et al. A bio-inspired compliant parallel mechanism for high-precision robots. In 2012 IEEE International Conference on Robotics and Automation, ICRA 2012. Institute of Electrical and Electronics Engineers Inc. 2012. p. 3122-3127. 6224873. (Proceedings - IEEE International Conference on Robotics and Automation). doi: 10.1109/ICRA.2012.6224873

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AB - 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.

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

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