Design and Implementation of a New Discretely-Actuated Manipulator

: This paper presents a new 3-D design of a discretely-actuated robot manipulator powered by binary actuators. Binary actuators have two stable states, which are, for example, closed (0) and open (1). Major benefits of this kind of discretely-actuated manipulator are repeatability, relatively low cost, and no need for feedback control. In addition, hyper-redundancy allows tasks to be performed even when some actuators fail. A prototype of the new 3-D design is presented in this paper.

• Type: Conference
• Year: 2000
• Where: ISER
• Authors: Jackrit Suthakorn, Gregory S. Chirikjian
• Keywords: Binary Actuators, Discretely-actuated Robot Manipulator, Hyper-redundancy Allows Tasks, ISER 2000, Robotics