Manipulators with two levels of friction control between links, implemented using piezoelectric transducers, oscillating in burst type excitation mode

The paper discusses the results of development and investigation of the new class of multi-degree-of-freedom robots, based on new concept. Classical rule of Robotics - the number of degree-of-freedom of robot should be equal to the number of applied actuators - is questioned here. This concept is realized by using kinematic pairs with alternating degree-of-freedom, controlled by a solitary force or moment, changing its direction in space. The number of degree-of-freedom of kinematic pair is controlled from 0 to 3, exploiting the dependence of friction forces upon oscillation in the contact zone of links.