Stiffness analysis for 6-DOF mouth training parallel robot WY-5

G. Carbone, H. Takanobu, M. Ceccarelli, Atsuo Takanishi, K. Ohtsuki, M. Ohnishi, A. Okino

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

    2 Citations (Scopus)

    Abstract

    In this paper a mouth opening and closing training robot, named WY-5 (Waseda Yamanashi version 5), is analyzed in terms of stiffness characteristics. The basic models and formulation are proposed in order to deduce the stiffness matrix as a function of the most important stiffness parameters of the WY-5 architecture. A numerical simulation is also presented to discuss main features of the system.

    Original languageEnglish
    Title of host publicationIEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
    PublisherInstitute of Electrical and Electronics Engineers Inc.
    Pages1234-1238
    Number of pages5
    Volume2
    ISBN (Print)0780377591
    DOIs
    Publication statusPublished - 2003
    Event2003 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2003 - Kobe, Japan
    Duration: 2003 Jul 202003 Jul 24

    Other

    Other2003 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2003
    CountryJapan
    CityKobe
    Period03/7/2003/7/24

    Fingerprint

    Stiffness
    Robots
    Plant shutdowns
    Stiffness matrix
    Computer simulation

    Keywords

    • Algorithm design and analysis
    • Humanoid robots
    • Industrial training
    • Joints
    • Medical treatment
    • Mouth
    • Numerical simulation
    • Pain
    • Parallel robots
    • Service robots

    ASJC Scopus subject areas

    • Electrical and Electronic Engineering
    • Control and Systems Engineering
    • Computer Science Applications
    • Software

    Cite this

    Carbone, G., Takanobu, H., Ceccarelli, M., Takanishi, A., Ohtsuki, K., Ohnishi, M., & Okino, A. (2003). Stiffness analysis for 6-DOF mouth training parallel robot WY-5. In IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM (Vol. 2, pp. 1234-1238). [1225519] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/AIM.2003.1225519

    Stiffness analysis for 6-DOF mouth training parallel robot WY-5. / Carbone, G.; Takanobu, H.; Ceccarelli, M.; Takanishi, Atsuo; Ohtsuki, K.; Ohnishi, M.; Okino, A.

    IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM. Vol. 2 Institute of Electrical and Electronics Engineers Inc., 2003. p. 1234-1238 1225519.

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

    Carbone, G, Takanobu, H, Ceccarelli, M, Takanishi, A, Ohtsuki, K, Ohnishi, M & Okino, A 2003, Stiffness analysis for 6-DOF mouth training parallel robot WY-5. in IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM. vol. 2, 1225519, Institute of Electrical and Electronics Engineers Inc., pp. 1234-1238, 2003 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2003, Kobe, Japan, 03/7/20. https://doi.org/10.1109/AIM.2003.1225519
    Carbone G, Takanobu H, Ceccarelli M, Takanishi A, Ohtsuki K, Ohnishi M et al. Stiffness analysis for 6-DOF mouth training parallel robot WY-5. In IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM. Vol. 2. Institute of Electrical and Electronics Engineers Inc. 2003. p. 1234-1238. 1225519 https://doi.org/10.1109/AIM.2003.1225519
    Carbone, G. ; Takanobu, H. ; Ceccarelli, M. ; Takanishi, Atsuo ; Ohtsuki, K. ; Ohnishi, M. ; Okino, A. / Stiffness analysis for 6-DOF mouth training parallel robot WY-5. IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM. Vol. 2 Institute of Electrical and Electronics Engineers Inc., 2003. pp. 1234-1238
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