Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Planar Manipulator using Stackable 4-BAR Mechanisms

적층형 4-BAR 메커니즘을 이용한 평면형 메니퓰레이터

  • 이호열 (한양대학교 대학원 전기전자제어계측공학과) ;
  • 최영진 (한양대학교 대학원 전기전자제어계측공학과)
  • Received : 2009.12.08
  • Accepted : 2010.03.11
  • Published : 2010.05.01
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Abstract

This paper proposes a new planar robotic manipulator using stackable 4-BAR mechanisms for various applications. The proposed manipulator has an advantage that we can separate the driving actuators from a robotic manipulator. By separating actuators from the manipulator, we are able to separate the electrical component such as electrical wiring from the mechanical linkage/joint components in the robotic manipulator. Also, we suggest the kinematic analysis of the proposed manipulator which is composed of input mechanisms, multiple 4-BAR mechanisms and output mechanisms. Finally, we suggest numerical simulations to show the effectiveness of the proposed manipulator.

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References

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