Academic Journal
Hybrid RobOstrich Manipulator with Intrinsic and Extrinsic Actuations.
| Τίτλος: | Hybrid RobOstrich Manipulator with Intrinsic and Extrinsic Actuations. |
|---|---|
| Συγγραφείς: | Manome, Takeru, Niiyama, Ryuma |
| Πηγή: | Journal of Robotics & Mechatronics; Dec2024, Vol. 36 Issue 6, p1448-1457, 10p |
| Θεματικοί όροι: | Soft robotics, Servomechanisms, Robotics, Ostriches, Robots |
| Περίληψη: | Ostrich neck-inspired manipulators have attracted attention in the field of bio-inspired robotics. They achieve unique movements that are difficult for conventional robots, owing to their flexibility. However, it is difficult to mimic the length, mass, and actuation redundancy of ostrich necks. This is because the longer and heavier the robotic arm, the greater is the load on the joints. Furthermore, if a robotic arm exhibits actuation redundancy, its structure and control become more complex. In this study, we developed a hybrid RobOstrich manipulator with both intrinsic and extrinsic actuations. This is the third-generation of the RobOstrich series. The manipulator consists of a servomotor attached to each joint that performs intrinsic actuation and two servomotors on the base that perform extrinsic actuation through wires. We conducted an experiment to reproduce the rolling pattern, which is a unique movement of the ostrich neck, to verify the effect of hybrid actuation. The results indicated that the joint angle error and required torque were reduced by applying hybrid actuation. [ABSTRACT FROM AUTHOR] |
| Copyright of Journal of Robotics & Mechatronics is the property of Fuji Technology Press Ltd. and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract. (Copyright applies to all Abstracts.) | |
| Βάση Δεδομένων: | Complementary Index |
καταχωρήστε σχόλιο πρώτοι!