Robots with increased number of degree-of-freedom with single exciting force |
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| Affiliation: | 1. Institute of Mechatronics, Kaunas University of Technology, Lithuania;2. Department of Information Technology, Vilnius Gediminas Technical University, Lithuania;1. School of Mechanical Engineering, Pusan National University, 2, Busandaehak-ro 63beon-gil, Geumjeong-gu, Busan 46241, South Korea;2. National Institute of Advanced Industrial Science and Technology, 1-1-1 Umezono, Tsukuba, Ibaraki 305-8563, Japan;3. Department of Mechanical Engineering, The University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo 113-8656, Japan;1. Second University of Naples, Department of Anaesthesiological, Surgical and Emergency Sciences, Naples, Italy;2. Breast Unit, Morgagni-Pierantoni Hospital, Forlì, Italy;3. Surgical Pathology Unit, Morgagni-Pierantoni Hospital, Forlì, Italy;1. Nagaoka University of Technology, Department of Mechanical Engineering, Kamitomioka 1603-1, Nagaoka, Niigata 942-2188, Japan;2. National Institute of Technology, Ichinoseki College, Department of Mechanical Engineering, Takanashi, Hagisho, Ichinoseki, Iwate, Japan;1. Chemnitz University of Technology, Chair of Solid Mechanics, Reichenhainer Str. 70, 09126 Chemnitz, Germany;1. Bone Metabolic Unit, Department of Internal Medicine, Hospital Marqués de Valdecilla-IDIVAL, University of Cantabria, Santander, Spain;2. Centro de Salud Camargo, University of Cantabria, Santander, Spain;3. Clinical Biochemistry Service, Hospital Marqués de Valdecilla-IDIVAL, University of Cantabria, Santander, Spain |
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| Abstract: | This paper presents the results of the development and investigation of a new class of novel multi-degree-of-freedom robots based on a new concept – the application of kinematic pairs with alternating degree-of-freedom (DOF) controlled by a single force or moment, changing its direction in space. The number of DOF of the kinematic pairs is controlled periodically from 0 to 3, exploiting the dependence of frictional forces on the oscillation in the contact zone of links. The advantages of this new class of robots include significant weight reduction, simple design and control, and specific applications in space robotics and soft robotic spines. In more complicated cases of trunk robots, elastic kinematic pairs are used with a number of DOF controlled by electro- or magneto-rheological fluids with viscosities that change as a result of applied electric or magnetic fields. Expressions for the generalized inertia matrix of the robots with a large number of joints have been derived using the computer algebra technique with the subsequent automatic program code generation. As shown in this paper, such an application could drastically reduce the number of floating point product operations for an efficient numerical simulation of robots. |
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| Keywords: | Trunk robot Piezoelectric transducers Kinematic pairs Electro-rheological fluids (ERF) Magneto-rheological fluids (MRF) Precise trajectory planning |
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