Experimental verification on novel robot arm equipped with bi-articular driving mechanism

Kengo Yoshida, Toshiyuki Uchida, Sehoon Oh, Yoichi Hori

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

3 Scopus citations

Abstract

This paper describes a novel design of robot arm and its experimental verification. The proposed robot arm has a bi-articular driving mechanism. The bi-articular driving mechanism drives both shoulder and elbow joints simultaneously like a bi-articular muscles of animals. The mechanism is built by timing belt and pulleys. The proposed robot arm mimics human upper arm with 3 DC motors working as three muscular pairs. First design and development of robot arm are described. Then several experiments verifies that the bi-articular driving mechanism can work on both two joints. Furthermore its redundant actuation system can work well, if anyone actuator is removed.

Original languageEnglish
Title of host publicationProceedings - IEEE ISIE 2009, IEEE International Symposium on Industrial Electronics
Pages1001-1006
Number of pages6
DOIs
StatePublished - 2009
EventIEEE International Symposium on Industrial Electronics, IEEE ISIE 2009 - Seoul, Korea, Republic of
Duration: 5 Jul 20098 Jul 2009

Publication series

NameIEEE International Symposium on Industrial Electronics

Conference

ConferenceIEEE International Symposium on Industrial Electronics, IEEE ISIE 2009
Country/TerritoryKorea, Republic of
CitySeoul
Period5/07/098/07/09

Fingerprint

Dive into the research topics of 'Experimental verification on novel robot arm equipped with bi-articular driving mechanism'. Together they form a unique fingerprint.

Cite this