An Innovative Actuation Concept for a New Hybrid Robotic System

LENZO, Basilio, FRISOLI, Antonio, SALSEDO, Fabio and BERGAMASCO, Massimo (2013). An Innovative Actuation Concept for a New Hybrid Robotic System. In: PADOIS, V, BIDAUD, P and KHATIB, O, (eds.) Romansy 19 - Robot Design, Dynamics and Control. Proceedings of the 19th CISM-IFtomm Symposium. CISM International Centre for Mechanical Sciences (544). Vienna, Springer, 135-142.

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In this article a novel actuation concept of robotic manipulators is presented. The concept is based on an innovative extension of gravity balancing techniques using passive elements. It allows to exert, at the level of the end effector, a force of variable intensity and generic spatial orientation without any motor torque required during any movement of the manipulator, except when a change of the exerted force’s intensity and/or orientation is requested. So, a new hybrid machine can be realized combining the benefits of active and passive existing systems without their drawbacks, with possible very high potentials in robotics applications.

Item Type: Book Section
Additional Information: Series ISSN:0254-1971
Identification Number:
Page Range: 135-142
Depositing User: Basilio Lenzo
Date Deposited: 12 Jan 2017 16:39
Last Modified: 18 Mar 2021 03:39

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