Hostname: page-component-6bf8c574d5-gr6zb Total loading time: 0 Render date: 2025-02-28T17:22:20.324Z Has data issue: false hasContentIssue false
  • English
  • Français

Trajectory planning for a 1-DOF clutched robotic arm

Published online by Cambridge University Press:  12 October 2010

Hao Gu  and
Marco Ceccarelli
Hao Gu*
Affiliation:
Laboratory of Robotics and Mechatronics (LARM), DIMSAT, University of Cassino, via G. Di Biasio, 43, 03043 Cassino, Italy. E-mail: ceccarelli@unicas.it
Marco Ceccarelli
Affiliation:
Laboratory of Robotics and Mechatronics (LARM), DIMSAT, University of Cassino, via G. Di Biasio, 43, 03043 Cassino, Italy. E-mail: ceccarelli@unicas.it
*
*Corresponding author. E-mail: hao.gu@unicas.it
Get access Rights & Permissions [Opens in a new window]

Summary

In this paper, we have reported a trajectory planning for a 1-degree-of-freedom clutched robotic arm. This novel robotic arm has only one actuator, but it can work in a spatial space by using a proper clutch system and a suitable trajectory planning. An algorithm has been proposed for generating a prescribed trajectory by means of seven operation modes, which are generated by different states of clutches.

Keywords

Humanoid robotsRobotic armsClutch systemsTrajectory planning
Type
Articles
Information
Robotica , Volume 29 , Issue 5 , September 2011 , pp. 745 - 756
Copyright
Copyright © Cambridge University Press 2010

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

1.ASIMO, Honda [Online]. Available http://www.honda.co.jp/ ASIMO (2010).Google Scholar
2.Caselli, S., Monica, F. and Reggiani, M., “Design Issues for a Mobile Manipulator for Service Tasks,” Proceedings of the 16th International Workshop on Robotics in Alpe-Adria Danube Region, Ljubljana (2007) pp. 144–151.Google Scholar
3.Chung, W., and Nakamura, Y., “Design and control of a chained form manipulator,” Int. J. Robot. Res. 21 (5–6), 389–408 (2002).CrossRefGoogle Scholar
4.Karbasi, H., Khajepour, A. and Huissoon, J. P., “Unidrive modular robot: Dynamics, control, and experiments,” J. Dyn. Syst., Meas. Control 128, 969–975 (2006).CrossRefGoogle Scholar
5.Carroll, T., “Then and now-robot arms,” Servo (8), 79–82 (2007).Google Scholar
6.Gu, H., Ceccarelli, M., Carbone, G., “Design and simulation of a 1-DOF anthropomorphic clutched arm for humanoid robots,” Int. J. Humanoid Robot., 7 (1), 157–182 (2010).CrossRefGoogle Scholar
7.Nava, N. E., Design and Simulation of a New Low-Cost Easy-Operation Humanoid Robot Ph.D. Thesis (Cassino, Italy: LARM, University of Cassino, 2006).Google Scholar
8.Gu, H. and Ceccarelli, M., “Simulation of Combined Motions for a 1-DOF Clutched Robotic Arm,” Proceeding of IEEE International Conference of Mechatronics and Automation (ICMA '09), Changchun (2009) pp. 3721–3726.Google Scholar
9.Gu, H., Ceccarelli, M. and Carbone, G., “An Experimental Characterization of a 1-DOF Anthropomorphic arm for Humanoid Robots,” Proceeding of the 13th WSEAS International Conference on Computers, Rodos Island (2009) pp. 92–99.Google Scholar
10.Rosheim, M. E., Robot evolution—The Development of Anthrobotics (Wiley, New York, 1994).Google Scholar