Title :
DNA type multi-DOF flexible robot
Author :
Takanobu, Hideaki ; Kawamura, Toshiya ; Saito, Satoshi
Author_Institution :
Dept. of Mech. Syst. Eng., Kogakuin Univ., Tokyo, Japan
Abstract :
We have developed a multi-DOF flexible robot modeled on deoxyribonucleic acid (DNA), the basis of heredity. DNA consists of bases, phosphate, and sugars that form a double helix, which can form a superhelix. In the present study, this double helix was modeled as a serial mechanism of 3-DOF basic units. The results of simulations with this model showed that it can form a superhelix. In addition, we built a robot consisting of 10 units with shape memory alloy to demonstrate that a superhelix can be developed.
Keywords :
DNA; control system synthesis; flexible manipulators; manipulator kinematics; shape memory effects; DNA; deoxyribonucleic acid; double helix; heredity; multiDOF flexible robot modeling; shape memory alloy; superhelix; Biological cells; Cells (biology); DNA; Humanoid robots; Humans; Mechanical systems; Modeling; Shape memory alloys; Spirals; Systems engineering and theory; Base; DNA; Flexibility; Robot; Superhelix;
Conference_Titel :
Intelligent Robots and Systems, 2005. (IROS 2005). 2005 IEEE/RSJ International Conference on
Print_ISBN :
0-7803-8912-3
DOI :
10.1109/IROS.2005.1545437
