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A linked manipulator with ion-polymer metal composite (IPMC) joints for soft- and micromanipulation

Kruusmaa, M.; Hunt, A.; Punning, A.; Anton, M.; Aabloo, A. (2008). A linked manipulator with ion-polymer metal composite (IPMC) joints for soft- and micromanipulation. IEEE International Conference on Robotics and Automation: IEEE International Conference on Robotics and Automation; Pasadena, CA; 19-23 May, 2008. New York: IEEE, 3588−3593.
publitseeritud konverentsiettekanne
Kruusmaa, M.; Hunt, A.; Punning, A.; Anton, M.; Aabloo, A.
IEEE International Conference on Robotics and Automation
IEEE International Conference on Robotics and Automation; Pasadena, CA; 19-23 May, 2008
New York
IEEE
1050-4729
9781424416462
2008
35883593
Ilmunud
3.1. Artiklid/peatükid lisas loetletud kirjastuste välja antud kogumikes (kaasa arvatud Thomson Reuters Book Citation Index, Thomson Reuters Conference Proceedings Citation Index, Scopus refereeritud kogumikud)

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Lisainfo

IPMCs are electroactive materials that bend in electric field. This paper describes a linked manipulator using IPMC joints. We argue that this design reduces the control complexity of an IPMC manipulator and increases the precision of the device. The design rationale stems from our theoretical work in material modeling. It suggests that when electrically decoupled short IPMC strips are connected to rigid links, the control of the IPMC manipulator, which is currently vaguely understood and highly non-linear, can be reduced to simple inverse kinematics serial chain manipulator control without the loss in efficiency. We validate our design by comparing the prototype device to a simple IPMC manipulator commonly investigated in the literature. The results show increased precision, reaction time and reachable workspace. We suggest that such a manipulator is suitable for soft and micromanipulation.
manipulator kinematics, micromanipulators, polymers, IPMC joints, electroactive material, inverse kinematics serial chain manipulator control, ion-polymer metal composite, linked manipulator, micromanipulation, soft manipulation
ISI Proceedings