Paper Info
Title
Mechanism of Humanoid Robot Arm with 7 DOFs Having Pneumatic Actuators
Abstract
Pneumatic pressure, which is easy enough to be handled in comparison with hydraulic pressure and is endowed with high safety, is available for a power source of a robot arm to be utilized in concert with human beings to do various types of work. But pneumatic pressure is so low in comparison with hydraulic pressure that an air cylinder having a diameter long enough and stroke wide enough is required to obtain great output power. In this study, therefore, the investigation was made with layout of air cylinders and transmission mechanisms of the motion power directed toward the driving joints to be followed by development of a new humanoid robot arm with seven degrees of freedom in which air cylinders are compactly incorporated. To be concrete with this, contrivance was made with an endoskeleton structure allowing almost all of the structure materials of the individual arm joints to be shared by the air cylinder with incorporation of the air cylinder in the axes of the upper arm joint and forearm joints by paying attention to the fact that the cylinder itself has high strength. The evaluation experiments driving the robot arm referred to above were conducted by means of I-PD control. The results suggested that the mechanism of the robot with seven degrees of freedom having pneumatic actuators proposed in this study is useful as the humanoid robot arm. The quick and accurate motions were accomplished with I-PD control which is relatively easy to be dealt with but not suitable for non-linear actuator system.
Year
DOI
Venue
2006
10.1093/ietfec/e89-a.11.3290
IEICE Transactions
Keywords
Field
DocType
humanoid robot arm,pneumatic pressure,new humanoid robot arm,pneumatic actuators,robot arm,air cylinder,great output power,individual arm joint,upper arm joint,i-pd control,hydraulic pressure,pneumatic actuator,humanoid robot
Robotic arm,Pneumatic actuator,Pneumatic cylinder,Bang-bang robot,Simulation,Robot end effector,Arm solution,Mathematics,Actuator,Humanoid robot
Journal
Volume
Issue
ISSN
E89-A
11
0916-8508
Citations 
PageRank 
References 
3
0.64
0
Authors
2
Name
Order
Citations
PageRank
Kiyoshi Hoshino16122.33
Ichiro Kawabuchi2356.58