A NEW ACTUATION APPROACH FOR HUMAN-FRIENDLY ROBOTIC MANIPULATION

دانشگاه آزاد اسلامی اصفهان(خوراسگان)

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" A NEW ACTUATION APPROACH FOR HUMAN-FRIENDLY ROBOTIC MANIPULATION "

Document Type	:	Latin Dissertation
Language of Document	:	English
Record Number	:	149755
Doc. No	:	ET21547
Main Entry	:	Michael R. Zinn
Title Proper	:	A NEW ACTUATION APPROACH FOR HUMAN-FRIENDLY ROBOTIC MANIPULATION
Note	:	This document is digital این مدرک بصورت الکترونیکی می باشد
Abstract	:	Human-centered robotics involves the close interaction between robotic systems andhuman beings, including direct human-manipulator contact. In such applications,we must consider the requirements of safety in addition to traditional performancemetrics. While there has been significant progress in manipulator and actuator design,there has yet to be a successful manipulator design that possesses the characteristicsof both safety and performance.To address this need, a new actuation method, referred to as Distributed Macro-Mini actuation (DM2), has been developed. Recognizing that manipulator torquerequirements, as a function of frequency, fall-off sharply a t higher frequencies, theDM2 approach partitions the actuation into separate macro- and mini-actuators thatprovide the low- and high-frequency torques, respectively. Locating the actuators atarm locations where they are most effective, referred to as distributed actuation, isan essential feature of this new approach. Large, macro actuators provide the low-frequency torque required to compensate gravity and provide acceleration torques.Locating the macro actuators at the base of atested for theQ1 PC1 bus cardBoth these projects mere sofixare des elopment efforts tonards contributing to dlfferentaspects of Roboucs and lZ1echatronics projects m the Controls and Roboucs Group..
Subject	:	Electericl tess
	:	برق
electronic file name	:	TL44721.pdf
Title and statement of responsibility and	:	A NEW ACTUATION APPROACH FOR HUMAN-FRIENDLY ROBOTIC MANIPULATION [Thesis]