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    Gu, Hao and Ceccarelli, Marco 2012. A Multiobjective Optimal Path Planning for a 1-DOF Clutched ARM. Mechanics Based Design of Structures and Machines, Vol. 40, Issue. 1, p. 109.
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Trajectory planning for a 1-DOF clutched robotic arm

  • Hao Gu (a1) and Marco Ceccarelli (a1)
Summary

In this paper, we have reported a trajectory planning for a 1-degree-of-freedom clutched robotic arm. This novel robotic arm has only one actuator, but it can work in a spatial space by using a proper clutch system and a suitable trajectory planning. An algorithm has been proposed for generating a prescribed trajectory by means of seven operation modes, which are generated by different states of clutches.

Copyright
COPYRIGHT: © Cambridge University Press 2010
Corresponding author
*Corresponding author. E-mail: hao.gu@unicas.it
References
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1.ASIMO, Honda [Online]. Available http://www.honda.co.jp/ ASIMO (2010).
2.Caselli, S., Monica, F. and Reggiani, M., “Design Issues for a Mobile Manipulator for Service Tasks,” Proceedings of the 16th International Workshop on Robotics in Alpe-Adria Danube Region, Ljubljana (2007) pp. 144–151.
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5.Carroll, T., “Then and now-robot arms,” Servo (8), 79–82 (2007).
6.Gu, H., Ceccarelli, M., Carbone, G., “Design and simulation of a 1-DOF anthropomorphic clutched arm for humanoid robots,” Int. J. Humanoid Robot., 7 (1), 157–182 (2010).
7.Nava, N. E., Design and Simulation of a New Low-Cost Easy-Operation Humanoid Robot Ph.D. Thesis (Cassino, Italy: LARM, University of Cassino, 2006).
8.Gu, H. and Ceccarelli, M., “Simulation of Combined Motions for a 1-DOF Clutched Robotic Arm,” Proceeding of IEEE International Conference of Mechatronics and Automation (ICMA '09), Changchun (2009) pp. 3721–3726.
9.Gu, H., Ceccarelli, M. and Carbone, G., “An Experimental Characterization of a 1-DOF Anthropomorphic arm for Humanoid Robots,” Proceeding of the 13th WSEAS International Conference on Computers, Rodos Island (2009) pp. 92–99.
10.Rosheim, M. E., Robot evolution—The Development of Anthrobotics (Wiley, New York, 1994).
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Robotica
  • ISSN: 0263-5747
  • EISSN: 1469-8668
  • URL: /core/journals/robotica
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