KARL: A new bio-inspired modular limb for robotic applications

Mariapaola D’Imperio, L. Carbonari, Nahian Rahman, C. Canali, F. Cannella
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Abstract

The modular and self-reconfigurable mechanisms are arising the interest of the robotics research community for their peculiarities of flexibility and cost effectiveness. In this scenario, this work presents a newly conceived device suitable for being used as a limb, as well as a planar two degrees of freedom manipulator, for robotic applications. The concept design here exposed merges the features of both parallel and serial kinematic mechanisms to obtain a limb whose primary characteristic is that of being independent from the frame to whom it is connected. In fact the actuation is realized by means of two linear motors directly arranged on the body and connected to the chassis through different closed kinematic chains. The manuscript introduces the formal aspects of this novel limb facing position, differential kinematics, expected performances and experimental results obtained thanks to a specifically built prototype.
一种新型仿生模块化肢体,用于机器人应用
模块化和自重构机制以其灵活性和成本效益的特点引起了机器人研究界的兴趣。在这种情况下,这项工作提出了一个新构思的装置,适合用作肢体,以及平面二自由度的机械手,用于机器人应用。这里所展示的概念设计融合了并联和串行运动机构的特点,以获得一个独立于所连接的框架的主要特征的肢体。实际上,驱动是通过直接安装在车身上的两个直线电机,通过不同的闭合运动链与底盘相连来实现的。该手稿介绍了这种新型肢体面向位置的形式方面,微分运动学,预期性能和实验结果,这要归功于一个专门建造的原型。
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