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

Volume

9

Issue

1

fYear

2002

fDate

3/1/2002 12:00:00 AM

Firstpage

45

Lastpage

54

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;

fLanguage

English

Journal_Title

Robotics & Automation Magazine, IEEE

Publisher

ieee

ISSN

1070-9932

Type

jour

DOI

10.1109/100.993154

Filename

993154