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We propose a robot arm using ultrasonic motors and demonstrate its characteristics such as high responsiveness and backdrivability, which are important characteristics in the view of the safety. The high responsiveness allows the robots to avoid collision against any objects and backdrivability makes the robots have compliance to unexpected actions of people. In this paper, we clarify the responsiveness...
This paper evaluates the dynamic and kinematic properties of a prismatic mechanism and shows its capabilities in performing home manipulation tasks when integrated into a robotic arm. Our design is motivated from the observation that human hand motions often follow a linear trajectory when manipulating everyday objects. We present the mechanical design for a light-weight, energy-efficient robot named...
This paper discusses the advantages of singular configurations of a two-link robot arm in achieving tasks of pulling or lifting a heavy object. Optimal base location and arm motion for minimizing the joint torques are examined by numerical simulations, and the base location where the robot arm is near a singular configuration at the start time of task is optimal. It is shown analytically that joint...
This paper presents a study on the optimal base location and arm motion of a mobile manipulator for door opening task. Numerical simulation results show that the base location where the manipulability of the two-link arm is almost degenerated at the start and end points of door opening is optimal.We show by analysis that the location has an advantage in supplying kinetic energy to the door by using...
We present a pipe inspection robot using a newly developed spherical ultrasonic motor (SUSM) as a camera actuator. The novel SUSM has improved the range of movement compared to previous SUSMs, and the robot can point a camera in any direction. In this study, we determined a method for controlling the rotational direction and strategic control from the kinematics and characteristics of ultrasonic motors...
In this paper we present a driving system and control method of newly developed spherical ultrasonic motor (SUSM) as a camera actuator for pipe inspection robot. The pipe inspection robot using SUSM that is very small actuator with three rotational degrees of freedom (DOF) can be inserted to the inside of pipe of 50 mm in diameter. The novel SUSM has improved the range of movement compared to previous...
This paper presents the development of rotary and linear piezoelectric actuator (rotary-linear motor) for a surgical manipulator with MRI compatibility. The stator of the rotary-linear motor is fabricated as a single metallic cube with a through-hole and shaft is inserted to the through-hole. Four piezoelectric elements are bonded to the sides of the stator. When AC voltage at each resonant frequency...
We present a micro ultrasonic motor having rotary and linear motions (rotary-linear motor) suitable for endovascular diagnosis and surgery. The rotary-linear motor is miniaturized to the size needed to function in a blood vessel. The stator prototype is a cube of side 3.5 mm, and the main body is fabricated as a single metallic cube with a through-hole. Four piezoelectric elements are bonded to the...
We present a spherical ultrasonic motor (SUSM) and an attitude sensing system using optical fibers for the SUSM. The SUSM is constructed from three ring-shaped stators and a spherical rotor, and has three degrees of freedom (DOF). It has good responsiveness, high positioning accuracy, and strong magnetic field compatibility. In the attitude sensing system, a flat mirror is built in the spherical rotor...
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