Development of a lightweight manipulator with constraint mechanism

Daichi Matsuoka, Guillermo Enriquez, Huei Ee Yap, Shuji Hashimoto

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

    Abstract

    Hyper-redundant manipulators are an interesting solution for flexible manipulations. While these types of manipulators can be used in complex environments, often their weight becomes impractically heavy due to the large number of actuators required for a large number of degrees of freedom. Biomimetic manipulators have received attention as a possible solution for the above problem, by imitating biological systems in which a large number of joints are driven by cooperation of muscles. However, these approaches often don't achieve the desired weight reduction as a whole system, due to the need for an air compressor. As such, the purpose of our research is a hyper-redundant manipulator designed with the intention of weight saving over the whole system.

    Original languageEnglish
    Title of host publication2014 International Symposium on Micro-NanoMechatronics and Human Science, MHS 2014
    PublisherInstitute of Electrical and Electronics Engineers Inc.
    ISBN (Electronic)9781479966790
    DOIs
    Publication statusPublished - 2015 Jan 9
    Event2014 International Symposium on Micro-NanoMechatronics and Human Science, MHS 2014 - Nagoya, Japan
    Duration: 2014 Nov 102014 Nov 12

    Other

    Other2014 International Symposium on Micro-NanoMechatronics and Human Science, MHS 2014
    CountryJapan
    CityNagoya
    Period14/11/1014/11/12

    ASJC Scopus subject areas

    • Electrical and Electronic Engineering
    • Mechanical Engineering

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  • Cite this

    Matsuoka, D., Enriquez, G., Yap, H. E., & Hashimoto, S. (2015). Development of a lightweight manipulator with constraint mechanism. In 2014 International Symposium on Micro-NanoMechatronics and Human Science, MHS 2014 [7006066] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/MHS.2014.7006066