NDLI: Development of a two-link planar manipulator with continuously variable transmission mechanism

Content Provider	IEEE Xplore Digital Library
Author	Okada, T. Tahara, K.
Copyright Year	2014
Description	Author affiliation: Dept. of Mech. Eng., Kyushu Univ., Fukuoka, Japan (Okada, T.; Tahara, K.)
Abstract	This paper proposes a novel two-link planar manipulator with continuously variable transmission (CVT) mechanism by means of plural linear shaft motors. In our previous works, we have proposed the parallel-link manipulator with the CVT mechanism which has two orthogonal DOFs. However, its configuration is not useful for a practical field because only one main link can be rotated around two joints like a joystick. In order for this mechanism to be more useful, the two-link planar type manipulator with the CVT is newly modeled and developed. Firstly, the proposed manipulator is modeled, and its control signals are designed. Next, the output force of the end-point of the manipulator is evaluated by using both the Manipulating-Force Ellipsoid and the Dynamic Manipulability Ellipsoid. After that, several fundamental experiments are performed to evaluate the CVT mechanism and show the effectiveness of the proposed manipulator.
Starting Page	617
Ending Page	622
File Size	1069554
Page Count	6
File Format	PDF
e-ISBN	9781479957361
DOI	10.1109/AIM.2014.6878147
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2014-07-08
Publisher Place	France
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Shafts Manipulator dynamics Trajectory Ellipsoids Vectors Force
Content Type	Text
Resource Type	Article

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