Portable serial robot manipulator with distributed actuation mechanism

Abstract

In this paper, a portable robot manipulator is developed with distributed actuation mechanism. In order to achieve the high performance and suitable size simultaneously, a distributed actuation mechanism is implemented. The proposed robot manipulator has several advantages such as high payload capacity and small size with high efficiency. In particular, a folding function is adopted for the portability. Prototype 2-DOF manipulator is developed, and the performance is experimentally verified.