DOI: 10.1109/iccas.2014.6987826
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Sung-Hwan Kim, Byungho Yoon, Ho Ju Lee, Soohyun Kim, Kyung-Soo Kim, Jong Cheol Kim, Tae Yang Noh

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.