Title :
Kinematics analysis for tube-type DEAs based parallel link mechanism
Author :
Changan Jiang ; Takagi, Kazuyoshi ; Hirano, Shoji ; Suzuki, Takumi ; Hosoe, Shigeyuki ; Hashimoto, Koji ; Nozawa, Akito
Author_Institution :
RIKEN-TRI Collaboration Center for Human-Interactive Robot Res., RIKEN, Nagoya, Japan
Abstract :
Instead of traditional actuators, tube-type dielectric elastomer actuators (DEAs) based parallel link mechanism is proposed in this research. As an application case, the mechanism fixed with a marker pen is used to implement one stroke draw and human like draw of alphabets. According to the prototype of this mechanism, kinematics and inverse kinematics problems are solved. The numerical simulation results are done for searching the reachable area of the tip of the marker pen and checking the lengths of DEAs during drawing. Finally, simple experiment results show the practicability of the developed mechanism.
Keywords :
elastomers; electric actuators; manipulator kinematics; numerical analysis; dielectric elastomer actuators; inverse kinematics problems; kinematics analysis; numerical simulation; parallel link mechanisms; tube-type DEA; Actuators; Equations; Kinematics; Mathematical model; Numerical simulation; Prototypes; Robots; Dielectric elastomer actuator (DEA); kinematics analysis; parallel link mechanism; tube-type DEA;
Conference_Titel :
Advanced Mechatronic Systems (ICAMechS), 2014 International Conference on
Conference_Location :
Kumamoto
DOI :
10.1109/ICAMechS.2014.6911619