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Optimized binary modular reconfigurable robotic devices

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3 Author(s)
Hafez, M. ; French Atomic Energy Comm., Fontenay-aux-Roses, France ; Lichter, M.D. ; Dubowsky, S.

Binary robotic devices with large degrees of freedom have been proposed by a number of researchers. However, experimental implementations of these concepts have been built with conventional components. These physical systems are heavy, complex and far from being practical devices. In this paper, a lightweight, compliant mechanism driven by optimized magnet-coil actuators is proposed and developed as an element for modular hyper-redundant degrees of freedom robotic systems. Such elements could be used in a number of applications and would replace conventional, complex, and heavy components. The device has a parallel kinematic structure. Its binary actuation simplifies its control architecture.

Published in:

Mechatronics, IEEE/ASME Transactions on  (Volume:8 ,  Issue: 1 )