Stiffness analysis for 6-DOF mouth training parallel robot WY-5

G. Carbone; H. Takanobu; M. Ceccarelli; A. Takanishi; K. Ohtsuki; M. Ohnishi; A. Okino

doi:10.1109/AIM.2003.1225519

Stiffness analysis for 6-DOF mouth training parallel robot WY-5

G. Carbone, H. Takanobu, M. Ceccarelli, A. Takanishi, K. Ohtsuki, M. Ohnishi, A. Okino

School of Creative Science and Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

3 Citations (Scopus)

Abstract

In this paper a mouth opening and closing training robot, named WY-5 (Waseda Yamanashi version 5), is analyzed in terms of stiffness characteristics. The basic models and formulation are proposed in order to deduce the stiffness matrix as a function of the most important stiffness parameters of the WY-5 architecture. A numerical simulation is also presented to discuss main features of the system.

Original language	English
Title of host publication	Proceedings - 2003 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2003
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	1234-1238
Number of pages	5
ISBN (Electronic)	0780377591
DOIs	https://doi.org/10.1109/AIM.2003.1225519
Publication status	Published - 2003 Jan 1
Event	2003 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2003 - Kobe, Japan Duration: 2003 Jul 20 → 2003 Jul 24

Publication series

Name	IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
Volume	2

Other

Other	2003 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2003
Country/Territory	Japan
City	Kobe
Period	03/7/20 → 03/7/24

Keywords

Algorithm design and analysis
Humanoid robots
Industrial training
Joints
Medical treatment
Mouth
Numerical simulation
Pain
Parallel robots
Service robots

ASJC Scopus subject areas

Control and Systems Engineering
Software
Computer Science Applications
Electrical and Electronic Engineering

Access to Document

10.1109/AIM.2003.1225519

Cite this

Carbone, G., Takanobu, H., Ceccarelli, M., Takanishi, A., Ohtsuki, K., Ohnishi, M., & Okino, A. (2003). Stiffness analysis for 6-DOF mouth training parallel robot WY-5. In Proceedings - 2003 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2003 (pp. 1234-1238). Article 1225519 (IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM; Vol. 2). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/AIM.2003.1225519

Stiffness analysis for 6-DOF mouth training parallel robot WY-5. / Carbone, G.; Takanobu, H.; Ceccarelli, M. et al.
Proceedings - 2003 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2003. Institute of Electrical and Electronics Engineers Inc., 2003. p. 1234-1238 1225519 (IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM; Vol. 2).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Carbone, G, Takanobu, H, Ceccarelli, M, Takanishi, A, Ohtsuki, K, Ohnishi, M & Okino, A 2003, Stiffness analysis for 6-DOF mouth training parallel robot WY-5. in Proceedings - 2003 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2003., 1225519, IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM, vol. 2, Institute of Electrical and Electronics Engineers Inc., pp. 1234-1238, 2003 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2003, Kobe, Japan, 03/7/20. https://doi.org/10.1109/AIM.2003.1225519

Carbone G, Takanobu H, Ceccarelli M, Takanishi A, Ohtsuki K, Ohnishi M et al. Stiffness analysis for 6-DOF mouth training parallel robot WY-5. In Proceedings - 2003 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2003. Institute of Electrical and Electronics Engineers Inc. 2003. p. 1234-1238. 1225519. (IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM). doi: 10.1109/AIM.2003.1225519

Carbone, G. ; Takanobu, H. ; Ceccarelli, M. et al. / Stiffness analysis for 6-DOF mouth training parallel robot WY-5. Proceedings - 2003 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2003. Institute of Electrical and Electronics Engineers Inc., 2003. pp. 1234-1238 (IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM).

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Stiffness analysis for 6-DOF mouth training parallel robot WY-5

Abstract

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Keywords

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