Design and implementation of a 2-DOF decoupled kinematic actuator module

This paper presents a comprehensive study on the design and implementation about 2-DOF decoupled kinematic actuator module based on the parallel structure with a high mechanical stiffness. The basic structure of 2-DOF decoupled kinematic actuator module has two motion units. Since one motion unit ca...

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Bibliographic Details
Main Authors: Yong Seok Ihn, Hyungpil Moon, Hyouk Ryeol Choi, Ja Choon Koo
Format: Conference Proceeding
Language:English
Subjects:
Actuators
Fasteners
Grippers
Hardware
Joints
Kinematics
Magnetic levitation
Online Access:Request full text
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Summary:This paper presents a comprehensive study on the design and implementation about 2-DOF decoupled kinematic actuator module based on the parallel structure with a high mechanical stiffness. The basic structure of 2-DOF decoupled kinematic actuator module has two motion units. Since one motion unit can be moved in only one direction, various applications are available and it can solve the parasitic motion fundamentally. The two motion units also have fine motion and coarse motion respectively. Besides it can be variously modified based on how the actuators are connected. Then the hardware of 2-DOF decoupled kinematic actuator module is implemented with one actuator and two additional locking devices. And the performance of the hardware will be evaluated by experimental system.
ISSN:2153-0858
2153-0866
DOI:10.1109/IROS.2012.6386245