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ROMANSY 11 pp 107-114 | Cite as

Group Theoretical Synthesis of Binary Manipulators

  • G. S. Chirikjian
Part of the International Centre for Mechanical Sciences book series (CISM, volume 381)

Abstract

This paper addresses a paradigm based on binary (two-state) actuation which may lead to lower cost and higher reliability for robotic manipulators. Binary manipulators constructed from pneumatic cylinders are both light weight and inexpensive, requiring minimal feedback hardware and trivial computer interfaces. However, for the benefits of binary actuation to be realized, methods developed in the pure mathematics literature over that past thirty years must be used to make the design and inverse kinematics of these manipulators tractable. As is demonstrated, the Fourier transform of functions on the Euclidean motion group is a powerful tool which can be used to this end.

Keywords

Binary Manipulator Brute Force Inverse Kinematic Robotic Manipulator Convolution Product 
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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References

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    Chirikjian, G.S., “Kinematic Synthesis of Mechanisms and Robotic Manipulators with Binary Actuators,” ASME Journal of Mechanical Design, Vol. 117, No. 4., pp 573–580, Dec. 1995.Google Scholar
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    Ebert-Uphoff, I., Chirikjian, G.S. “Efficient Workspace Generation for Binary Manipulators with Many Actuators,” Journal of Robotic Systems, June, 1995, pp 383–400.Google Scholar
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    Ebert-Uphoff, I., Chirikjian, G.S., “Inverse Kinematics of Discretely Actuated Hyper-Redundant Manipulators Using Workspace Densities,” Proc. IEEE Int. Conf. on Robotics and Automation, April 1996.Google Scholar
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    Ebert-Uphoff, I., Chirikjian, G.S., “Discretely Actuated Manipulator Workspace Generation by Closed-Form Convolution,” Proc. ASME Mechanisms Conference, August 1996.Google Scholar
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Copyright information

© Springer-Verlag Wien 1997

Authors and Affiliations

  • G. S. Chirikjian
    • 1
  1. 1.Johns Hopkins UniversityBaltimoreUSA

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