IJAT Vol.5 No.4 pp. 478-484
doi: 10.20965/ijat.2011.p0478


Development of Articulated Manipulators with Pneumatic Cylinders

Yukio Kawakami*, Kazuhisa Ito*, Masashi Ogawa**,
Akiyoshi Horikawa**, Koji Shioda**, and Kiono Nagai**

*Department of Machinery and Control Systems, College of Systems Engineering and Science, Shibaura Institute of Technology, 307 Fukasaku, Minuma-ku, Saitama-city, Saitama 337-8570, Japan

**Development Department, Development Division, KOGANEI Corporation, 3-11-28 Midori-cho, Koganei-shi, Tokyo 184-8533, Japan

January 26, 2011
April 6, 2011
July 5, 2011
articulated manipulator, pneumatic cylinder, flexibility direct drive joint, pressure control

We have developed new articulated manipulators with compact pneumatic cylinders and with the high levels of structural flexibilities and safety as a result of adoption of new ideas in the structure. In developing the new articulated manipulators, we have first defined the design concepts and then described the overview of the manipulators which we have actually designed and manufactured. We have carried out experiments with the manufactured articulated manipulators for their positional controllability and stiffness characteristics, the results of which are also reported in this paper. Furthermore, this paper refers to possible applications of the developed new articulated manipulators.

Cite this article as:
Y. Kawakami, K. Ito, M. Ogawa, <. Horikawa, K. Shioda, and K. Nagai, “Development of Articulated Manipulators with Pneumatic Cylinders,” Int. J. Automation Technol., Vol.5, No.4, pp. 478-484, 2011.
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Last updated on Nov. 18, 2019