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

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

研究成果: Chapter in Book/Report/Conference proceedingConference contribution

6 被引用数 (Scopus)

抄録

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.

本文言語英語
ホスト出版物のタイトル2012 IEEE International Conference on Robotics and Automation, ICRA 2012
出版社Institute of Electrical and Electronics Engineers Inc.
ページ3122-3127
ページ数6
ISBN(印刷版)9781467314039
DOI
出版ステータス出版済み - 1 1 2012
外部発表はい
イベント 2012 IEEE International Conference on Robotics and Automation, ICRA 2012 - Saint Paul, MN, 米国
継続期間: 5 14 20125 18 2012

出版物シリーズ

名前Proceedings - IEEE International Conference on Robotics and Automation
ISSN(印刷版)1050-4729

その他

その他 2012 IEEE International Conference on Robotics and Automation, ICRA 2012
Country米国
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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