New Class of Trunk-Like Robots: Structure, Control, Actuators
R. Bansevicius, Kaunas University of Technology, Kaunas, Lithuania
A. Drukteiniene, Siauliai University, Siauliai, Lithuania
V. Jurenas, Kaunas University of Technology, Kaunas, Lithuania
G. Kulvietis, Vilnius Gediminas Technical University, Vilnius, Lithuania
The aim of presentation is to present the results of development and investigation of the new class of multidegree-of-freedom trunk robots, based on new concept. Classical rule of Robotics – the number of degree-of-freedom of robot should be equal to the number of applied actuators – is questioned here. This concept is realized by using kinematic pairs with alternating degree-of-freedom, controlled by a solitary force or moment, changing its direction in space. The number of degree-of-freedom of kinematic pair is controlled from 0 to 3, exploiting various methods: the dependence of friction forces upon oscillation in the contact zone of links, the control of viscosity of electro rheological (ERF) or magneto rheological fluids (MRF), when electric or magnetic fields are applied.
ACTUATOR 2016 Manuscript P 23
Publication date: 01/06/2016
Manuscript P 23 published in Conference Proceedings ACTUATOR 2016
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