Development of flexible microactuator and its applications to robotic mechanisms
作者： K. Suzumori , S. Iikura , H. Tanaka
DOI: 10.1109/ROBOT.1991.131850
关键词: Robot 、 Robot hand 、 Mechanism (engineering) 、 Microactuator 、 Simulation 、 Kinematics 、 Control engineering 、 Robot manipulator 、 Three degrees of freedom 、 Engineering 、 Actuator
摘要: A flexible microactuator (FMA) driven by an electropneumatic (or electrohydraulic) system has been developed. The FMA three degrees of freedom, pitch, yaw, and stretch, these are suitable movements for miniature robotic mechanisms such as fingers, arms, or legs. construction is fiber-reinforced rubber, the mechanism very simple. Gentle robots with no conventional links can be designed using this design. FMA's basic characteristics its applications to certain robot presented. Serially connected FMAs act a manipulator. kinematics control algorithm type combined in parallel multifingered hand, each representing finger. An cooperative FMAs, stable region holding, performance >
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sci-hub.se 参考文章(5)
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