TY - GEN
T1 - Experimental verification on novel robot arm equipped with bi-articular driving mechanism
AU - Yoshida, Kengo
AU - Uchida, Toshiyuki
AU - Oh, Sehoon
AU - Hori, Yoichi
PY - 2009
Y1 - 2009
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=77950102606&partnerID=8YFLogxK
U2 - 10.1109/ISIE.2009.5220552
DO - 10.1109/ISIE.2009.5220552
M3 - Conference contribution
AN - SCOPUS:77950102606
SN - 9781424443499
T3 - IEEE International Symposium on Industrial Electronics
SP - 1001
EP - 1006
BT - Proceedings - IEEE ISIE 2009, IEEE International Symposium on Industrial Electronics
T2 - IEEE International Symposium on Industrial Electronics, IEEE ISIE 2009
Y2 - 5 July 2009 through 8 July 2009
ER -