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An Innovative Actuation Concept for a New Hybrid Robotic System

  • Basilio Lenzo
  • A. Frisoli
  • Fabio Salsedo
  • M. Bergamasco
Part of the CISM International Centre for Mechanical Sciences book series (CISM, volume 544)

Abstract

In this article a novel actuation concept of robotic manipulators is presented. The concept is based on an innovative extension of gravity balancing techniques using passive elements. It allows to exert, at the level of the end effector, a force of variable intensity and generic spatial orientation without any motor torque required during any movement of the manipulator, except when a change of the exerted force’s intensity and/or orientation is requested. So, a new hybrid machine can be realized combining the benefits of active and passive existing systems without their drawbacks, with possible very high potentials in robotics applications.

Keywords

Bipedal Robot Motor Torque Passive Element Haptic Interface Orientation Mechanism 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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Copyright information

© CISM, Udine 2013

Authors and Affiliations

  • Basilio Lenzo
    • 1
  • A. Frisoli
    • 1
  • Fabio Salsedo
    • 1
  • M. Bergamasco
    • 1
  1. 1.PercRo Lab - TeCIP InstituteScuola Superiore Sant’AnnaPisaItaly

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