Kinematic Synthesis of Mechanisms and Robotic Manipulators With Binary Actuators

[+] Author and Article Information
G. S. Chirikjian

Department of Mechanical Engineering, Johns Hopkins University, Baltimore, MD 21218

J. Mech. Des 117(4), 573-580 (Dec 01, 1995) (8 pages) doi:10.1115/1.2826721 History: Received February 01, 1994; Revised March 01, 1995; Online December 11, 2007


Binary actuators have only two discrete states (denoted “0” and “1”), both of which are stable without feedback. As a result, binary mechanisms and manipulators have a finite number of states. Major benefits of binary actuation are that extensive feedback control is not required, task repeatability can be very high, and two-state actuators are generally very inexpensive (e.g., solenoids, pneumatic cylinders, etc.), thus resulting in low cost robotic mechanisms. This paper develops algorithms for the optimal synthesis of binary manipulators and mechanisms for discrete tasks such as pick-and-place operations.

Copyright © 1995 by The American Society of Mechanical Engineers
Your Session has timed out. Please sign back in to continue.





Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In