Design of the chained form manipulator

Woo Jin Chung, Yoshihiko Nakamura

Research output: Chapter in Book/Report/Conference proceedingConference contribution

9 Citations (Scopus)

Abstract

Exploiting the unique features of nonholonomic systems, we have proposed and fabricated the nonholonomic manipulator which is a controllable n joint manipulator with only two actuators. In order to create its nonholonomic constraint, a special type of velocity transmission, called the nonholonomic gear, was used. There are many possible alternatives of designing underactuated manipulators using the nonholonomic gear. The nonholonomic manipulator was designed focussing on the mechanical simplicity. In this paper, we establish the design procedure of underactuated manipulators whose kinematic model can be converted to the chained form, giving priority to the practical control aspects. As an example that has control simplicity, the chained form manipulator was designed according to the proposed design concept.

Original languageEnglish
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
PublisherIEEE
Pages455-461
Number of pages7
Volume1
Publication statusPublished - 1997
Externally publishedYes
EventProceedings of the 1997 IEEE International Conference on Robotics and Automation, ICRA. Part 3 (of 4) - Albuquerque, NM, USA
Duration: 1997 Apr 201997 Apr 25

Other

OtherProceedings of the 1997 IEEE International Conference on Robotics and Automation, ICRA. Part 3 (of 4)
CityAlbuquerque, NM, USA
Period97/4/2097/4/25

Fingerprint

Manipulators
Gears
Kinematics
Actuators

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering

Cite this

Chung, W. J., & Nakamura, Y. (1997). Design of the chained form manipulator. In Proceedings - IEEE International Conference on Robotics and Automation (Vol. 1, pp. 455-461). IEEE.

Design of the chained form manipulator. / Chung, Woo Jin; Nakamura, Yoshihiko.

Proceedings - IEEE International Conference on Robotics and Automation. Vol. 1 IEEE, 1997. p. 455-461.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Chung, WJ & Nakamura, Y 1997, Design of the chained form manipulator. in Proceedings - IEEE International Conference on Robotics and Automation. vol. 1, IEEE, pp. 455-461, Proceedings of the 1997 IEEE International Conference on Robotics and Automation, ICRA. Part 3 (of 4), Albuquerque, NM, USA, 97/4/20.
Chung WJ, Nakamura Y. Design of the chained form manipulator. In Proceedings - IEEE International Conference on Robotics and Automation. Vol. 1. IEEE. 1997. p. 455-461
Chung, Woo Jin ; Nakamura, Yoshihiko. / Design of the chained form manipulator. Proceedings - IEEE International Conference on Robotics and Automation. Vol. 1 IEEE, 1997. pp. 455-461
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