Title :
Binary hyper-redundant robotic manipulator concept
Author :
Suthakorn, Jackrit
Author_Institution :
Dept. of Mech. Eng., Mahidol Univ., Thailand
Abstract :
Continuously actuated robotic manipulators are the most common type of manipulators even though they require sophisticated and expensive control and sensor systems to function with high accuracy and repeatability. Binary hyper-redundant (Bi-HR) robotic manipulators are potential candidates to be used in applications where high repeatability and reasonable accuracy are required. Such applications include pick-and-place, spot welding and assistants to people with disabilities. Generally, the Bi-HR manipulator is relatively inexpensive, lightweight, and has a high payload to arm weight ratio. This paper discusses a concept of Bi-HR manipulator, influencing concepts to the Bi-HRt examples of applications, and its advantages and disadvantages.
Keywords :
manipulators; sensors; spot welding; hyper-redundant; robotic manipulator; sensor systems; spot welding; Actuators; Adaptive systems; Control systems; Kinematics; Manipulators; Mechanical engineering; Payloads; Robot sensing systems; Sensor systems; Spot welding;
Conference_Titel :
TENCON 2004. 2004 IEEE Region 10 Conference
Print_ISBN :
0-7803-8560-8
DOI :
10.1109/TENCON.2004.1415010