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Design and control of robot manipulator with a distributed actuation mechanism |
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| Affiliation: | 1. Design Manufacturing and Control Laboratory, EA 4495, ENSAM CER Metz, 4 rue Augustin Fresnel, 57078 Metz Cedex 3, France;2. National Engineering School of Metz, 1 route d’Ars Laquenexy, 57078 Metz Cedex 3, France;1. Faculté de Technologie, Laboratoire d’automatique, Université de Tlemcen, Algeria;2. Univ. Lille Nord de France, F-59000 Lille, France;3. UVHC, LAMIH, F-59313 Valenciennes, France;4. CNRS, UMR 8201, F-59313 Valenciennes, France;5. Univ. Pierre et Marie CURIE, ISIR, CNRS, UMR-7222, 4 Place Jussieu, F-75005 Paris, France;1. Department of Electrical Engineering, Linköpings University, Linköping, Sweden;2. ABB Corporate Research, Västerås, Sweden;3. ABB Robotics, Västerås, Sweden |
| Abstract: | This paper presents a design methodology based on the distributed actuation principle to achieve a high-performance robot manipulator. Spatial movement of the actuation points provides several advantages such as high payload capacity, high efficiency and a light weight structure for the proposed robot manipulator. Based on the analysis, the distributed actuation mechanism using a single slider is adopted for the proposed manipulator. A prototype of the manipulator with two degrees of freedom is developed and controlled as an example. The efficacy of the proposed approach is verified experimentally. |
| Keywords: | Distributed actuation mechanism Robot manipulator Robot arm High payloads Light weight arm |
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