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Journal cover: Industrial Robot: An International Journal

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


Document Information:
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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