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http://dx.doi.org/10.5302/J.ICROS.2010.16.5.456

Planar Manipulator using Stackable 4-BAR Mechanisms  

Lee, Ho-Yul (한양대학교 대학원 전기전자제어계측공학과)
Choi, Young-Jin (한양대학교 대학원 전기전자제어계측공학과)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.16, no.5, 2010 , pp. 456-462 More about this Journal
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.
Keywords
4-BAR; stackable mechanism; planar manipulator;
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