Abstract

The suitability of the parallel planar actuator (PPA) to application in an articulated mobile robot is evaluated. Examination of several joint actuation schemes is presented along with the introduction of the PPA. The PPA has a high joint torque generating capacity and a distributed structure that leads to a light, stiff mechanism. A segment of an articulated mobile robot with the kinematic configuration of the PPA has been designed and fabricated. The design process is outlined and the major components are described. The mechanism is operational and meets major design criteria.

Volume Subject Area:
22nd Biennial Mechanisms Conference: Robotics, Spatial Mechanisms, and Mechanical Systems
Topics:
Design engineering, Mobile robots, Design, Actuators, Kinematics, Torque
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Copyright © 1992 by The American Society of Mechanical Engineers
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