ACTUATOR 2016 Manuscript P 23

Author: Hubert Borgmann
Pages: 4
Language: English
Publication date: 01/06/2016
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Manuscript P 23 published in Conference Proceedings ACTUATOR 2016
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.
El vendedor asume toda la responsabilidad de esta entrada.
Hubert Borgmann, MESSE BREMEN,
Project Manager ACTUATOR, International Conference and Exhibition on New Actuators and Drive Systems, Bremen, Germany, and Editor of the ACTUATOR Conference Proceedings (
Project Manager ITHEC, International Conference and Exhibition on Thermoplastic Composites, Bremen, Germany, and Editor of the ITHEC Conference Proceedings (

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