Design and Implementation of a New Discretely-Actuated Manipulator
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.
KeywordsBinary Manipulator Inverse Kinematic Spot Welding Robotic Manipulator Redundant Manipulator
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