Structural and Kinematic Particularities of the Micro-Robot Mechanisms

Abstract:

Due to their dimensions the micro-robots generally have a mono-mobile mechanical structure. This includes mechanisms acted by a single motor and consequently one input and multiple outputs. Such micro-robots have a fixed displacement strategy. The paper deals with the structural and kinematic characteristics of a robot complex mechanism with gears, cam and bars applied in different purposes [2, 3, 4, 5]. The systems may be equipped with various types of sensors such as tactile, proximity, sound and light ones.

• Periodical: Applied Mechanics and Materials (Volume 762)
• Pages: 205-210
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.762.205
• Online since: May 2015
• Authors: Ileana Dugaesescu, Dinu Comanescu, Adriana Comanescu*
• Keywords: CAM, Complex Mechanism, Fixed Sequence Robot, Follower, Gear, Kinematic Modeling, Micro-Robot, Structure Modeling

References

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[2] Adr. Comanescu, D. Comanescu, I. Dugaeşescu, A. Boureci, Bazele modelarii mecanismelor (Bases of Mechanisms Modeling), Editura POLITEHNICA PRESS, Bucharest, (2010).

[3] Chr. Pelecudi, Bazele analizei mecanismelor (Bases of Mechanisms Analysis), Editura Academiei Romane, Bucharest (1962).

[4] D. Stewart: A platform with six degrees of freedom, Proc. of the Institution of Mechanical Engineers, Vol. 180, Part 1, Nr. 15, pp.371-385.

[5] St. Staicu, C. Popa: Kinematics of the 3-UPU parallel robot, UPB Sci. Bull., series D, no. 3, (2013), pp.9-18.