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http://dx.doi.org/10.5762/KAIS.2011.12.11.5219

A Study on Implementation of Special-Purpose Manipulator for Home Service Robot  

Kim, Seung-Woo (Dept. of Electrical Information Engineering, Soonchunhyang University)
Kim, Hi-Jun (Dept. of Electrical Information Engineering, Soonchunhyang University)
Publication Information
Journal of the Korea Academia-Industrial cooperation Society / v.12, no.11, 2011 , pp. 5219-5226 More about this Journal
Abstract
A specialized anthropomorphic robot manipulator which can be attached to the housemaid robot McBot II, is developed In this paper. This built-in type manipulator consists of both arms with 3 DOF (Degree of Freedom) each and both hands with 3 DOF each. The robotic arm is optimally designed to satisfy both the minimum mechanical size and the maximum workspace. Minimum mass and length are required for the built-in cooperated-arms system. But that makes the workspace so small. This paper proposes optimal design method to overcome the problem by using neck joint to move the arms horizontally forward/backward and waist joint to move them vertically up/down. The robotic hand, which has two fingers and a thumb, is also optimally designed in task-based concept. Finally, the good performance of the developed manipulator is confirmed through live test of tasks.
Keywords
Robotic Arm; Robotic Hand; Task-Based Design; Built-In Manipulator; Optimization;
Citations & Related Records
Times Cited By KSCI : 2  (Citation Analysis)
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