New class of trunk-like robots: structure, control, actuators

Bansevičius, Ramutis Petras; Drukteinienė, Asta; Jūrėnas, Vytautas; Kulvietis, Genadijus

Use this url to cite publication: https://hdl.handle.net/20.500.14911/116076

New class of trunk-like robots: structure, control, actuators

Details

Publication Type (CRIS)

Straipsnis recenzuojamoje užsienio tarptautinės konferencijos medžiagoje / Article in peer-reviewed foreign international conference proceedings (P1d)

Publication Type (eLABa)

Straipsnis recenzuotame konferencijos darbų leidinyje / Article published in peer-reviewed conference proceedings (P1d)

VILNIUS TECH Research Priorities and Topics

Informacinės technologijos, ontologinės ir telematikos sistemos / Information technologies, ontological and telematic systems (IK01)

Lithuanian Intelligent Specialization

Nauji gamybos procesai, medžiagos ir technologijos / New production processes, materials and technologies (L104)

Author(s)

Author	Affiliation
Bansevičius, Ramutis Petras	Kauno technologijos universitetas
Drukteinienė, Asta	Šiaulių universitetas
Jūrėnas, Vytautas	Kauno technologijos universitetas
Kulvietis, Genadijus	Informacinių technologijų katedra / Department of Information Technologies (1047)

Title

New class of trunk-like robots: structure, control, actuators

[en]

R. Bansevicius, A. Drukteiniene, V. Jurenas, G. Kulvietis

Is part of

Actuator 16 : 15th International Conference on New Actuators & 9th International Exhibition on Smart Actuators and Drive Systems, 13–15 June 2016, Bremen, Germany : conference proceedings / editor Hubert Borgmann

Published In

Year	Start Page	End Page
2016	483	486

Publisher

Bremen : MESSE Bremen WFB Wirtschaftsförderung Bremen GmbH, 2016

Extent

p. 483-486

URI

URI
https://hdl.handle.net/20.500.14911/116076

Cited references

Science / Art Area

Technologijos mokslai / Technological sciences (T)

Field of Science / Art

Informatikos inžinerija / Informatics engineering (T007)

Mechanikos inžinerija / Mechanical Engineering (T009)

Keywords (en)

Abstract (en)

The aim of presentation is to present the results of development and investigation of the new class of multidegree- of-freedom trunk robots, based on new concept. Classical rule of Robotics – the number of degree-offreedom of robot should be equal to the number of applied actuators – is questioned here. This concept is realized by using kinematic pairs with alternating degree-of-freedom, controlled by a solitary force or moment, changing its direction in space. The number of degree-of-freedom of kinematic pair is controlled from 0 to 3, exploiting various methods: the dependence of friction forces upon oscillation in the contact zone of links, the control of viscosity of electro rheological (ERF) or magneto rheological fluids (MRF), when electric or magnetic fields are applied.