| Title |
Manipulators with two levels of friction control between links, implemented using piezoelectric transducers, oscillating in burst type excitation mode |
| Authors |
Bansevicius, Ramutis ; Jurenas, Vytautas ; Kulvietis, Genadijus |
| DOI |
10.21595/jve.2016.17264 |
| Full Text |
|
| Is Part of |
Journal of vibroengineering.. Kaunas : JVE International. 2016, vol. 18, iss. 4, p. 2221-2228.. ISSN 1392-8716. eISSN 2538-8460 |
| Keywords [eng] |
trunk robots ; kinematic pairs ; piezoelectric actuators ; degree-of-freedom ; friction control |
| Abstract [eng] |
The paper discusses the results of development and investigation of the new class of multi‑degree‑of‑freedom robots, based on new concept. Classical rule of Robotics – the number of degree‑of‑freedom of robot should be equal to the number of applied actuators – is questioned here. This concept is realized by using kinematic pairs with alternating degree‑of‑freedom, controlled by a solitary force or moment, changing its direction in space. The number of degree‑of‑freedom of kinematic pair is controlled from 0 to 3, exploiting the dependence of friction forces upon oscillation in the contact zone of links. |
| Published |
Kaunas : JVE International |
| Type |
Journal article |
| Language |
English |
| Publication date |
2016 |
| CC license |
|
