Task-based Method for Designing Underactuated Elastic Mechanisms

Shoichiro Kamada, Youngwoo Kim, Goro Obinata

2012

Abstract

In this paper, we introduce a task-based method for designing underactuated mechanisms which actuators are linked with the joints via elastic elements. We consider multi-joint mechanisms that contain fewer independent actuators than the joints. The elastic elements work as convertors from the displacement of the actuators to the joint torques of the mechanisms. In our method, we analyze the joint motions of the mechanisms during the completion of each task and the level of participation of each joint for few specific tasks. The results of this study can be used for the synthesis of dedicated underactuated mechanisms that can operate in a low task coordinate space and for the systematic design of underactuated mechanisms.

Paper Citation

in Harvard Style

Kamada S., Kim Y. and Obinata G. (2012). Task-based Method for Designing Underactuated Elastic Mechanisms . In Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-8565-22-8, pages 383-387. DOI: 10.5220/0004121503830387

in Bibtex Style

@conference{icinco12,
author={Shoichiro Kamada and Youngwoo Kim and Goro Obinata},
title={Task-based Method for Designing Underactuated Elastic Mechanisms},
booktitle={Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2012},
pages={383-387},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0004121503830387},
isbn={978-989-8565-22-8},
}

in EndNote Style

TY - CONF
JO - Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - Task-based Method for Designing Underactuated Elastic Mechanisms
SN - 978-989-8565-22-8
AU - Kamada S.
AU - Kim Y.
AU - Obinata G.
PY - 2012
SP - 383
EP - 387
DO - 10.5220/0004121503830387