Title :
An in-parallel actuated manipulator with redundant actuators for gross and fine motions
Author :
Takeda, Yukio ; Funabashi, Hiroaki ; Ichikawa, Kazuki ; Hirose, Kazuya
Author_Institution :
Dept. of Mechanical Sci. & Eng., Tokyo Inst. of Technol., Japan
Abstract :
We propose an in-parallel actuate mechanism that can simultaneously realize fine positioning resolution and a large working space, and we discuss its infinitesimal displacement characteristics. Based on a kinematic synthesis of this mechanism, an experimental manipulator has been developed and we discuss the results of experiments regarding its fine positioning characteristics.
Keywords :
actuators; position control; prototypes; redundant manipulators; experimental manipulator; fine motion; fine positioning resolution; gross motion; in-parallel actuated manipulator; infinitesimal displacement characteristics; kinematic synthesis method; large working space; redundant actuator; Actuators; DVD; Joining processes; Kinematics; Manipulators; Mechanical engineering; Research and development; Space technology; Spatial resolution; Vibrations;
Conference_Titel :
Robotics and Automation, 2003. Proceedings. ICRA '03. IEEE International Conference on
Print_ISBN :
0-7803-7736-2
DOI :
10.1109/ROBOT.2003.1241683
