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Conventional robot manipulators produce poor payload to weight ratio and limited manipulation ability, as a significant portion of available actuation force is used to balance their own weight. The same cause also limits the robot's operation capability in terms of acceleration and manipulation force. Such problems become more severe for modular and reconfigurable robots (MRRs) when they are expanded...
This paper presents an innovative spring assisted modular and reconfigurable robot (MRR) design and control framework, which is developed based on a synergetic integration of robot control with a brake and an embedded spring at each modular joint. By activating the brake, static balancing can be established, allowing reinforced delicate operation in the neighborhood of a balanced configuration such...
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