Manipulators with two levels of friction control between links, implemented using piezoelectric transducers, oscillating in burst type excitation mode
Date
2016Author
Bansevičius, Ramutis Petras
Jūrėnas, Vytautas
Kulvietis, Genadijus
Metadata
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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.