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Open Access item A new manipulator structure for power-assist devices

Authors:González de Santos, Pablo
García Armada, Elena
Sarria, Javier F.
Ponticelli, Roberto
Reviejo, Jesús
Keywords:Robotics, Power-assist devices, Easy handling
Issue Date:2010
Publisher:Emerald Group Publishing
Citation:Industrial Robot: An International Journal (37) 5:452-458(2010)
Abstract:Abstract: Purpose – This paper introduces a new manipulator structure to configure power-assist devices in order to protect operators from musculoskeletal disorders. The mechanical structure and the control system are presented, along with their main features. Design/methodology/approach – The new structure is designed under the criterion of minimizing the torques required for handling payloads of up to 75 kg in an easily controlled system. Findings – A new structure is provided, based on electrical AC motors and capable of handling high payloads yet exerting low motor torque. Originality/value – The application of the criterion of minimizing the required torques to handle he
Publisher version (URL):http://dx.doi.org/10.1108/01439911011063272
URI:http://hdl.handle.net/10261/37375
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