JRM Vol.5 No.3 pp. 306-313
doi: 10.20965/jrm.1993.p0306


Development of a Personal Robot with the Modularized Link Units

Shigeru Kurono*, Shigeto Aramaki**, Yoshikazu Fujino*

*Faculty of Engineering, Kyushu Sangyo University, 2-3-1, Matsukadai, Higashi-ku, Fukuoka 813, Japan

**Kyushu Engineering Department, Kinki University, 11-6 Kashiwanomori, Iizuka, Fukuoka 820, Japan

April 9, 1993
April 16, 1993
June 20, 1993
Personal robot, Manipulator, Servo mechanism, Modularized link unit
If the links which can be used as the components of a robot are organized in a manner of "modularized units" equipped with an actuator, a sensory device, and even a servo-mechanism, respectively, many kinds of robots can be easily constructed and their flexibility will be greatly improved. For this purpose, we developed a modularized link unit comprised of a DC servo motor, a position sensor, and a reduction gear set. This unit has a number of characteristics such as having large torque and small backlash, making the direction of the robot hand independent of its position, and so on. Using these units, we constructed a "personal robot" and developed its control system. In this paper, we introduce the composition and characteristics of our link unit, and illustrate the hardware and software system of a robot made from the modularized link units in this study.
Cite this article as:
S. Kurono, S. Aramaki, and Y. Fujino, “Development of a Personal Robot with the Modularized Link Units,” J. Robot. Mechatron., Vol.5 No.3, pp. 306-313, 1993.
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Last updated on May. 19, 2024