Design and implementation of a 2-DOF decoupled kinematic actuator module

Author

Ihn, Yong Seok ; Moon, Hyungpil ; Choi, Hyouk Ryeol ; Koo, Ja Choon

Author_Institution

Sch. of Mech. Eng., Sungkyunkwan Univ., Suwon, South Korea

fYear

2012

fDate

7-12 Oct. 2012

Firstpage

2533

Lastpage

2538

Abstract

This paper presents a comprehensive study on the design and implementation about 2-DOF decoupled kinematic actuator module based on the parallel structure with a high mechanical stiffness. The basic structure of 2-DOF decoupled kinematic actuator module has two motion units. Since one motion unit can be moved in only one direction, various applications are available and it can solve the parasitic motion fundamentally. The two motion units also have fine motion and coarse motion respectively. Besides it can be variously modified based on how the actuators are connected. Then the hardware of 2-DOF decoupled kinematic actuator module is implemented with one actuator and two additional locking devices. And the performance of the hardware will be evaluated by experimental system.

Keywords

manipulator kinematics; motion control; 2-DOF decoupled kinematic actuator module; basic structure; coarse motion; fine motion; high mechanical stiffness; locking devices; motion units; parallel structure; parasitic motion; Actuators; Fasteners; Grippers; Hardware; Joints; Kinematics; Magnetic levitation;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems (IROS), 2012 IEEE/RSJ International Conference on

Conference_Location

Vilamoura

ISSN

2153-0858

Print_ISBN

978-1-4673-1737-5

Type

conf

DOI

10.1109/IROS.2012.6386245

Filename

6386245