Title :
A hybrid drive parallel arm for heavy material handling
Author :
Arai, Tatsuo ; Yuasa, Kei ; Mae, Yahushi ; Inoue, Kenji ; Miyawaki, Kunio ; KOYACHI, Noriho
Author_Institution :
Dept. of Syst. & Human Sci., Osaka Univ., Japan
fDate :
3/1/2002 12:00:00 AM
Abstract :
This article discusses a hybrid drive parallel arm driven by cables and cylinders in order to design a compact handling arm, thus enlarging its workspace. Our major objective is to develop a dexterous arm capable of controlling six-degree-of-freedom (DOF) motion of heavy materials. The article includes a basic concept of parallel mechanisms with hybrid actuation, comparisons and evaluations of some types of hybrid mechanisms based on its kinematics and statics, and finally introduces a designed prototype arm
Keywords :
actuators; construction industry; dexterous manipulators; industrial manipulators; manipulator kinematics; materials handling; cable drive mechanism; compact handling arm; construction industry; cylinders; dexterous arm; end-effector; heavy material handling; hybrid actuation; hybrid drive parallel arm; inverse kinematics; kinematics; link parameters; midscale apartment building construction; parallel mechanisms; scale model; shipbuilding industry; six-degree-of-freedom motion control; symmetrical configurations; symmetrical link arrangements; workspace analysis; Automatic control; Cranes; Materials handling; Motion control; Parallel robots; Production facilities; Productivity; Robot kinematics; Robotic assembly; Robotics and automation;
Journal_Title :
Robotics & Automation Magazine, IEEE
