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Date 7-7 Oct. 1991

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Displaying Results 1 - 12 of 12
  • Evaluation of a direct drive approach in multi-fingered robotic hands

    Publication Year: 1991, Page(s):7/1 - 7/4
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (269 KB)

    Manipulation of an object by a multi-fingered robot hand requires task planning which involves computation of joint space vectors and fingertip forces. To implement a task as fast as possible, computations have to be carried out in minimum time. However, the state of the art in multi-fingered robot hand designs has shown the possible use of remotely driven finger joints. Remotely driven hands requ... View full abstract»

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  • Performance of manipulator actuators fitted with covariant control

    Publication Year: 1991, Page(s):9/1 - 9/3
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (128 KB)

    The dynamic performance of robots and manipulators are greatly influenced by the actuator characteristics used to actuate the joints of these mechanisms. The servo actuator characteristics are governed by the force/torque generation process, the energy conversion process and the type of control system used. Research into the dynamics of bilateral servo control systems for use in force-reflecting m... View full abstract»

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  • The `Flexator' as a robotic actuator

    Publication Year: 1991, Page(s):5/1 - 5/4
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (108 KB)

    Describes a research project at Middlesex Polytechnic which has been investigating the static and dynamic performance characteristics of a new low-cost pneumatic actuator, invented by Jim Hennequin of Airmuscle Ltd., for use in an electric wheelchair mounted robotic arm View full abstract»

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  • Direct drive high energy permanent magnet brush and brushless DC motors for robotic applications

    Publication Year: 1991, Page(s):12/1 - 12/4
    Cited by:  Papers (3)
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (200 KB)

    The robot is required to carry out varieties of physical tasks either to replace or assist human beings. Therefore, theoretically any motor from the electric motor family can be used to perform that physical task. The trend, however, is for permanent magnets brushless DC motors in the majority of applications. The brushless DC motor is more reliable and has better heat dissipation capability. The ... View full abstract»

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  • Actuators for high speed high accuracy co-ordinate measuring machines

    Publication Year: 1991, Page(s):8/1 - 8/3
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (96 KB)

    Describes the Ferranti MIDAS co-ordinate measuring machine (CMM) which consists of three orthogonal axes in X, Y and Z and a Renishaw PH10 two degree of freedom probe capable of rotating ±180° about the probe axis and 0 to 105° perpendicular to the axis. The machine axes are controlled by independent servo loops consisting of a pulse width modulated current amplifier, three phase br... View full abstract»

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  • Development of piezoelectric cycloid motor

    Publication Year: 1991, Page(s):2/1 - 2/3
    Cited by:  Papers (1)  |  Patents (4)
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (184 KB)

    The paper proposes a piezoelectric cycloid motor, in which the cycloid gear mechanism is used to convert the expansion and contraction of the piezoelectric actuators into the rotational motion of the motor. Making a prototype of the output characteristics of a prototype were investigated experimentally. The results obtained are as follows. (1) The proposed rotational principle was effective. (2) T... View full abstract»

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  • A fast opto-pneumatic converter for robot actuation

    Publication Year: 1991, Page(s):10/1 - 10/2
    Cited by:  Papers (1)
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (96 KB)

    Outlines a device under development at UMIST. The converter is based on the transition between laminar and turbulent flow. A smooth pneumatic beam is injected into a cylindrical cell through an emitting tube, and is adjusted so that the emitted flow remains laminar up to a collecting tube. With this arrangement, a pressure is built up in the collecting tube due to the entry of the laminar flow bea... View full abstract»

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  • Robotic actuation: organic and inorganic power systems

    Publication Year: 1991, Page(s):6/1 - 6/5
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (292 KB)

    Industrial motivation to increase efficiency continues to push at the forefront of robotic technology. Of particular significance with regard to this need for flexibility is the choice and availability of actuators and actuation systems. The paper deals with the need for and development of new actuators capable of comparing in performance terms with animal muscle View full abstract»

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  • Electrorheological robotic actuators

    Publication Year: 1991, Page(s):3/1 - 3/4
    Cited by:  Patents (1)
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (168 KB)

    The addition of simple porous fabric layers to electrorheological fluid activated clutches is demonstrated to improve, and in some cases more than double the available operating torque, whilst slightly reducing the EHT supply current requirements. The use of this technique in other devices such as actuators, flexible joints, controllable compliant surfaces etc. is also been found to be essential i... View full abstract»

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  • Robot actuators-mobile platforms and their control

    Publication Year: 1991, Page(s):11/1 - 11/3
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (136 KB)

    All robots have actuators that allow them to interact with their workspace, sometimes this includes the means to move them around. Locomotion is a field with a rich history dating back to the invention of the wheel and it might be thought that by now all relevant areas should be adequately understood. Automation offers alternative options for control and indeed forces them to be adopted in the abs... View full abstract»

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  • IEE Colloquium on `Robot Actuators' (Digest No.146)

    Publication Year: 1991
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (12 KB)

    The following topics were dealt with: electro-mechanical clutch element; piezoelectric cycloid motor; electrorheological actuators; flexator; contraction actuator; multi-fingered robotic hands; coordinate measuring machines; opto-pneumatic convertor; and direct drive high energy permanent magnet brush/brushless DC motors View full abstract»

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  • A fast electro-mechanical clutch element using a piezoelectric multilayer actuator

    Publication Year: 1991, Page(s):1/1 - 1/4
    Cited by:  Papers (1)
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (192 KB)

    The mechanism described in the paper is one design in a series of monolithically constructed devices designed around flexure hinges. It generates a 30 Newton stall force, with an unrestrained movement of over 110 μm, derived from a piezoelectric device which only extends by 15 μm. Although the device cannot be considered as highly efficient, it transforms the output movement up to a level wh... View full abstract»

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