| Title: | OS20-4 Design of flexible mechanism for flexible manipulator |
|---|---|
| Publication: | ICAROB2024 |
| Volume: | 29 |
| Pages: | 594-598 |
| ISSN: | 2188-7829 |
| DOI: | 10.5954/ICAROB.2024.OS20-4 |
| Author(s): | Jiawei Huang, Kazuo Ishii |
| Publication Date: | February 22, 2024 |
| Keywords: | Flexible manipulator, Wires driven, Kinematic model |
| Abstract: | Based on the study of the kinematic limitations of the rigid manipulator structure and the characteristics of the existing flexible manipulator in different categories, this paper proposes a structure assumption of flexible manipulator based on the advantages of high load of rigid joint and high flexibility of flexible manipulator. This paper designed a flexible manipulator structure driven by wires. Using the forward kinematics analysis, the sport model of the structure. The motion range of the end of the manipulator arm and the length changes of the wires were simulated with the movement of the model. |
| PDF File: | https://alife-robotics.co.jp/members2024/icarob/data/html/data/OS/OS20-4.pdf |
| Copyright: | © The authors. This article is distributed under the terms of the Creative Commons Attribution License 4.0, which permits non-commercial use, distribution and reproduction in any medium, provided the original work is properly cited. See for details: https://creativecommons.org/licenses/by-nc/4.0/ |
(c)2008 Copyright The Regents of ALife Robotics Corporation Ltd. All Rights Reserved.