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Authors: Shoichiro Kamada ; Youngwoo Kim and Goro Obinata

Affiliation: Nagoya University, Japan

Keyword(s): Underactuated Mechanism, Task-based Design, Principal Component Analysis, Elastic Element.

Related Ontology Subjects/Areas/Topics: Informatics in Control, Automation and Robotics ; Robot Design, Development and Control ; Robotics and Automation

Abstract: In this paper, we introduce a task-based method for designing underactuated mechanisms which actuators are linked with the joints via elastic elements. We consider multi-joint mechanisms that contain fewer independent actuators than the joints. The elastic elements work as convertors from the displacement of the actuators to the joint torques of the mechanisms. In our method, we analyze the joint motions of the mechanisms during the completion of each task and the level of participation of each joint for few specific tasks. The results of this study can be used for the synthesis of dedicated underactuated mechanisms that can operate in a low task coordinate space and for the systematic design of underactuated mechanisms.

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Paper citation in several formats:
Kamada, S.; Kim, Y. and Obinata, G. (2012). Task-based Method for Designing Underactuated Elastic Mechanisms. In Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO; ISBN 978-989-8565-22-8; ISSN 2184-2809, SciTePress, pages 383-387. DOI: 10.5220/0004121503830387

@conference{icinco12,
author={Shoichiro Kamada. and Youngwoo Kim. and Goro Obinata.},
title={Task-based Method for Designing Underactuated Elastic Mechanisms},
booktitle={Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO},
year={2012},
pages={383-387},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0004121503830387},
isbn={978-989-8565-22-8},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO
TI - Task-based Method for Designing Underactuated Elastic Mechanisms
SN - 978-989-8565-22-8
IS - 2184-2809
AU - Kamada, S.
AU - Kim, Y.
AU - Obinata, G.
PY - 2012
SP - 383
EP - 387
DO - 10.5220/0004121503830387
PB - SciTePress

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