{"title":"Development of a biarticular manipulator using spiral motors","authors":"A. Shukor, I. Smadi, Y. Fujimoto","doi":"10.1109/IECON.2011.6119294","DOIUrl":null,"url":null,"abstract":"This paper presents the design and development of a musculoskeletal-inspired robot manipulator using the third prototype of the spiral motor developed in our laboratory. The spiral motors represents the linear contraction/extension of the antagonistic muscles due to the high forward/backward drivability without any gears or mechanisms. Workspace was evaluated and simulations were done in some control schemes to compare the probable methods of workspace control. Finally, spiral motor control and experimental results were presented.","PeriodicalId":105539,"journal":{"name":"IECON 2011 - 37th Annual Conference of the IEEE Industrial Electronics Society","volume":"4 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2011-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"4","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"IECON 2011 - 37th Annual Conference of the IEEE Industrial Electronics Society","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/IECON.2011.6119294","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 4
Abstract
This paper presents the design and development of a musculoskeletal-inspired robot manipulator using the third prototype of the spiral motor developed in our laboratory. The spiral motors represents the linear contraction/extension of the antagonistic muscles due to the high forward/backward drivability without any gears or mechanisms. Workspace was evaluated and simulations were done in some control schemes to compare the probable methods of workspace control. Finally, spiral motor control and experimental results were presented.
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