Development of two-link manipulator equipped with biarticular muscle mechanism using flexible actuator

Yuki Saito; Wataru Motooka; Takahiro Nozaki; Daisuke Yashiro; Kouhei Ohnishi

doi:10.1541/ieejias.132.397

Development of two-link manipulator equipped with biarticular muscle mechanism using flexible actuator

Yuki Saito, Wataru Motooka, Takahiro Nozaki, Daisuke Yashiro, Kouhei Ohnishi

Department of System Design Engineering

Research output: Contribution to journal › Article › peer-review

2 Citations (Scopus)

Abstract

In this paper, a novel mechanism and a controller for two-link manipulators with two monoarticular muscle mechanisms and one biarticular muscle mechanism are proposed. The monoarticular and biarticular muscle mechanisms are actuated by eight flexible actuators that consist of one linear motor and one thrust wire. The validity of the mechanism and controller is confirmed by experiments.

Original language	English
Pages (from-to)	397-403
Number of pages	7
Journal	ieej transactions on industry applications
Volume	132
Issue number	3
DOIs	https://doi.org/10.1541/ieejias.132.397
Publication status	Published - 2012

Keywords

Antagonistic drive
Biarticular muscle
Flexible actuator
Monoarticular muscle

ASJC Scopus subject areas

Industrial and Manufacturing Engineering
Electrical and Electronic Engineering

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10.1541/ieejias.132.397

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abstract = "In this paper, a novel mechanism and a controller for two-link manipulators with two monoarticular muscle mechanisms and one biarticular muscle mechanism are proposed. The monoarticular and biarticular muscle mechanisms are actuated by eight flexible actuators that consist of one linear motor and one thrust wire. The validity of the mechanism and controller is confirmed by experiments.",

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AU - Motooka, Wataru

AU - Nozaki, Takahiro

AU - Yashiro, Daisuke

AU - Ohnishi, Kouhei

PY - 2012

Y1 - 2012

N2 - In this paper, a novel mechanism and a controller for two-link manipulators with two monoarticular muscle mechanisms and one biarticular muscle mechanism are proposed. The monoarticular and biarticular muscle mechanisms are actuated by eight flexible actuators that consist of one linear motor and one thrust wire. The validity of the mechanism and controller is confirmed by experiments.

AB - In this paper, a novel mechanism and a controller for two-link manipulators with two monoarticular muscle mechanisms and one biarticular muscle mechanism are proposed. The monoarticular and biarticular muscle mechanisms are actuated by eight flexible actuators that consist of one linear motor and one thrust wire. The validity of the mechanism and controller is confirmed by experiments.

KW - Antagonistic drive

KW - Biarticular muscle

KW - Flexible actuator

KW - Monoarticular muscle

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Development of two-link manipulator equipped with biarticular muscle mechanism using flexible actuator

Abstract

Keywords

ASJC Scopus subject areas

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