Title :
Control of the parallel link mechanism by using hydraulic spool-in-cylinder
Author :
Kitagawa, Ato ; Wu, ChunNan ; Kakino, Atsushi ; Liu, Canghai ; Aierken, Tuohuti
Author_Institution :
Dept. of Mech. & Control Eng., Tokyo Inst. of Technol., Japan
Abstract :
This paper presents the basic structure of the hydraulic spool-in-cylinder and its application on the 3-DOF rotational parallel link mechanism. The hydraulic spool-in-cylinder is an actuator which consists of a hydraulic cylinder, spool. mechanical feedback mechanism and stepping motor. The 3-DOF rotational parallel link mechanism consists of three spool-in-cylinders. We can simply realize the control of the high output hydraulic spool-in-cylinder by adjusting the input of the stepping-motor. The experiments show that the locomotion of the 3-DOF rotational parallel link mechanism can mimic the human wrist locomotion.
Keywords :
actuators; feedback; hydraulic control equipment; manipulator kinematics; stepping motors; tracking; actuator; human wrist locomotion; hydraulic spool-in-cylinder; inverse kinematics; mechanical feedback mechanism; rotational parallel link mechanism; stepping motor; tracking; Displays; Engine cylinders; Feedback; Hydraulic actuators; Hydraulic systems; Pistons; Pulleys; Valves; Wire; Wrist;
Conference_Titel :
SICE 2002. Proceedings of the 41st SICE Annual Conference
Print_ISBN :
0-7803-7631-5
DOI :
10.1109/SICE.2002.1196575
