Design of a manipulator for tele-operation applications

Hun Keon Ko, Kwon Hee Kim, Hyo Chan Kwon, Chang Hee Cho

Research output: Contribution to conferencePaperpeer-review

2 Citations (Scopus)


A manipulator for remote duplication of an operator's arm motion is presented. The focus of design is on the economic efficiency with limited payload, speed and accuracy ranges for a given application. The arm has eight degrees of freedom with upper arm, elbow, lower arm, wrist and end effector. The actuators employ screw-nut combination for maximum payload and self-locking feature with low cost geared motors. The end effector has three degrees of freedom for wrist and one degree of freedom for fingers. The three fingers are coupled by a triangular joint that offers approximately equal grasping forces among them and are operated by one actuator. The mechanism, which is composed of the combination of screw-nut-timing pulley, was designed for an upper arm. The motion range of the manipulator had been analyzed by a forward kinematics. The performance of the manipulator based on video motion capture of an operator had been verified by experiments.

Original languageEnglish
Number of pages5
Publication statusPublished - 2011
Event28th International Symposium on Automation and Robotics in Construction, ISARC 2011 - Seoul, Korea, Republic of
Duration: 2011 Jun 292011 Jul 2


Other28th International Symposium on Automation and Robotics in Construction, ISARC 2011
Country/TerritoryKorea, Republic of


  • Manipulator
  • Motion tracking
  • Performance evaluation
  • Robot arm
  • Tele-operation

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Building and Construction


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