ICRA 2012 Paper Abstract


Paper WeC110.3

Kozuka, Hiroaki (Nagoya Institute of Technology), Arata, Jumpei (Nagoya Insititute of Technology), Okuda, Kenji (Brother Industries, Ltd.), Onaga, Akinori (Brother Industries, Ltd.), Ohno, Motoshi (Brother Industries, Ltd.), Sano, Akihito (Nagoya Institute of Technology), Fujimoto, Hideo (Nagoya Institute of Technology)

A Bio-Inspired Compliant Parallel Mechanism for High-Precision Robots

Scheduled for presentation during the Interactive Session "Interactive Session WeC-1" (WeC110), Wednesday, May 16, 2012, 14:30−15:00, Ballroom D

2012 IEEE International Conference on Robotics and Automation, May 14-18, 2012, RiverCentre, Saint Paul, Minnesota, USA

This information is tentative and subject to change. Compiled on June 18, 2018

Keywords Compliant Joint/Mechanism, Parallel Robots, Biomimetics


In this paper, a compliant parallel mechanism with high precision and a wide working area is presented. A compliant parallel mechanism is a parallel mechanism in which all of the joints are deformable elastic joints. The presented mechanism is composed of circular compliant joints that have been inspired by Drakaea, which is an orchidaceous species. From our analytical and experimental tests, it was revealed that these circular compliant joints have desirable characteristics for composing a compliant parallel mechanism. Based on these primary experimental results, we developed a 3-DOF compliant parallel mechanism for an optic component positioning machine. The prototype evaluation tests revealed the mechanismís advantageous characteristics.



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