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Industrial Robot: An International Journal
ISSN: 0143-991X
Online from: 1973
Subject Area: Mechanical & Materials Engineering
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A new manipulator structure for power-assist devices
| Title: | A new manipulator structure for power-assist devices |
|---|---|
| Author(s): | Pablo Gonzalez de Santos, (Instituto de Automatica Industrial – CSIC, Madrid, Spain), E. Garcia, (Instituto de Automatica Industrial – CSIC, Madrid, Spain), Javier Sarria, (Instituto de Automatica Industrial – CSIC, Madrid, Spain), Roberto Ponticelli, (Instituto de Automatica Industrial – CSIC, Madrid, Spain), Jesus Reviejo, (Instituto de Automatica Industrial – CSIC, Madrid, Spain) |
| Citation: | Pablo Gonzalez de Santos, E. Garcia, Javier Sarria, Roberto Ponticelli, Jesus Reviejo, (2010) "A new manipulator structure for power-assist devices", Industrial Robot: An International Journal, Vol. 37 Iss: 5, pp.452 - 458 |
| Keywords: | Electric power transmission, Robotics, Systems and control theory |
| Article type: | Research paper |
| DOI: | 10.1108/01439911011063272 (Permanent URL) |
| Publisher: | Emerald Group Publishing Limited |
| Acknowledgements: | This paper is supported by the Spanish Ministry of Science and Innovation through Grant DPI2007-65728. |
| Abstract: | Purpose – The purpose of this paper is to introduce a new manipulator structure to configure power-assist devices in order to protect the operator from suffering musculoskeletal disorders. The mechanical structure and the control system along with their main features are presented. Design/methodology/approach – The new structure was designed under the criterion of minimizing the torques required for handling payloads up to 75?kg as well as to configure a system to be controlled easily. Findings – A new structure based on electrical AC motors and capable of handling high payloads exerting low motor torque is provided. Originality/value – The paper describes how application of the criterion of minimizing the required torques to handle heavy payload produced a new manipulator structure. This structure is patent protected. |
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