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

G. Carbone, H. Takanobu, M. Ceccarelli, A. 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 publicationProceedings - 2003 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2003
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1234-1238
Number of pages5
ISBN (Electronic)0780377591
DOIs
Publication statusPublished - 2003 Jan 1
Event2003 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2003 - Kobe, Japan
Duration: 2003 Jul 202003 Jul 24

Publication series

NameIEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
Volume2

Other

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

Keywords

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

ASJC Scopus subject areas

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

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  • 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 Proceedings - 2003 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2003 (pp. 1234-1238). [1225519] (IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM; Vol. 2). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/AIM.2003.1225519