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Design and Implementation of a New Discretely-Actuated Manipulator

  • Jackrit Suthakorn
  • Gregory S. Chirikjian
Conference paper
Part of the Lecture Notes in Control and Information Sciences book series (LNCIS, volume 271)

Abstract

This paper presents a new 3-D design of a discretely-actuated robot manipulator powered by binary actuators. Binary actuators have two stable states, which are, for example, closed (0) and open (1). Major benefits of this kind of discretely-actuated manipulator are repeatability, relatively low cost, and no need for feedback control. In addition, hyper-redundancy allows tasks to be performed even when some actuators fail. A prototype of the new 3-D design is presented in this paper.

Keywords

Binary Manipulator Inverse Kinematic Spot Welding Robotic Manipulator Redundant Manipulator 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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Copyright information

© Springer-Verlag Berlin Heidelberg 2001

Authors and Affiliations

  • Jackrit Suthakorn
    • 1
  • Gregory S. Chirikjian
    • 1
  1. 1.Department of Mechanical EngineeringJohns Hopkins UniversityBaltimoreUSA

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