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Accession number;05A0960565
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| Title;Development of a General-purpose Expandable Arm for a Small Mobile Robot |
| Author;
HASHIMOTO TATSUYA
(Univ. of Tsukuba)
OYA AKIHISA
(Univ. of Tsukuba)
KOYANAGI EIJI
(Toin Univ. Yokohama, JPN)
YUTA SHINIICHI
(Univ. of Tsukuba)
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Journal Title;Nippon Kikai Gakkai Robotikusu, Mekatoronikusu Koenkai Koen Ronbunshu (CD-ROM)
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Journal Code:L0318B
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ISSN:
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VOL.2005;NO.;PAGE.1P1-N-027(2005)
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| Figure&Table&Reference;FIG.9, TBL.2, REF.3 |
| Pub. Country;Japan |
| Language;Japanese |
| Abstract;If a small mobile robot can do tasks manipulating objects, its working area expands enormously. In this research, we developed an expandable sliding arm which enables a mobile robot to push or pull objects. The mobile robot arm can manipulate objects such as elevator buttons, light switches and mail-box drawers. The expandable arm has 3 degrees of freedom; a rotary degree of freedom at the base, a stretching degree of freedom and a rotary degree of freedom at the end-effector. The stretching section is composed of 4 links. The length of the contracted arm is 388mm and the total length of the expanded arm is 1218mm. Our mechanical arm has linear motion guides in the stretching section, DC motors for driving, Harmonic-drive to reduce the speed and a solenoid to push switches and buttons at the end-effector. (author abst.) |
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