Title :
Stiffness analysis for 6-DOF mouth training parallel robot WY-5
Author :
Carbone, Giuseppe ; Takanobu, H. ; Ceccarelli, Marco ; Takanishi, A. ; Ohtsuki, Kazuhiro ; Ohnishi, Masato ; Okino, A.
Author_Institution :
Lab. of Robotics & Mechatronics, Univ. of Cassino, Italy
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.
Keywords :
compliance control; manipulator kinematics; medical robotics; motion control; training; 6-DOF mouth training parallel robot; WY-5 architecture; Waseda Yamanashi 5; compliance control; manipulator kinematics; mouth closing; mouth opening; stiffness analysis; stiffness estimation; stiffness matrix; Algorithm design and analysis; Humanoid robots; Industrial training; Joints; Medical treatment; Mouth; Numerical simulation; Pain; Parallel robots; Service robots;
Conference_Titel :
Advanced Intelligent Mechatronics, 2003. AIM 2003. Proceedings. 2003 IEEE/ASME International Conference on
Print_ISBN :
0-7803-7759-1
DOI :
10.1109/AIM.2003.1225519
