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

Volume

3

fYear

2002

fDate

5-7 Aug. 2002

Firstpage

1716

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;

fLanguage

English

Publisher

ieee

Conference_Titel

SICE 2002. Proceedings of the 41st SICE Annual Conference

Print_ISBN

0-7803-7631-5

Type

conf

DOI

10.1109/SICE.2002.1196575

Filename

1196575