NDLI: Inverse kinematics analysis for incompletely restrained parallel wire mechanisms

Content Provider	IEEE Xplore Digital Library
Author	Yamamoto, M. Mohri, A.
Copyright Year	2000
Description	Author affiliation: Dept. of Intelligent Machinery & Syst., Kyushu Univ., Fukuoka, Japan (Yamamoto, M.)
Abstract	This paper discusses parallel wire mechanisms where an end-effector of the mechanism is suspended by multiple wires. This mechanism enables not only three dimensional positioning but also three dimensional orientating of the end-effector, unlike typical wire suspension type mechanism such as overhead crane. To discuss the parallel wire mechanism, two forms of basic dynamic equations are presented. Then dynamical properties of the mechanism is described based on the basic equations. This paper mainly issues an inverse kinematics problem for general incompletely restrained type parallel wire mechanism. To distinguish some parallel wire mechanisms including the incompletely restrained type, the paper first defines constraint states of the end-effector, then parallel wire mechanisms are classified into three categories based on the definition. Each characteristic of the mechanism corresponding to the categories is described. Especially, incompletely restrained type parallel wire mechanism is mainly discussed in the view point of inverse kinematics problem. After arguing a general solution for the inverse kinematics problem of the incompletely restrained type parallel wire mechanism, an actual mechanism of the incompletely restrained type mechanism is presented and the inverse kinematics problem for this mechanism is analyzed.
Starting Page	504
Ending Page	509
File Size	597182
Page Count	6
File Format	PDF
ISBN	0780363485
DOI	10.1109/IROS.2000.894654
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2000-10-31
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Kinematics Wire Cranes Equations Intelligent systems Machine intelligence Machinery Systems engineering and theory Pensions Mechanical factors
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

Inverse dynamics analysis and trajectory generation of incompletely restrained wire-suspended mechanisms

Trajectory control of incompletely restrained parallel-wire-suspended mechanism based on inverse dynamics

Inverse dynamics and control of crane-type manipulator

Manipulability measures for multi-wire driven parallel mechanisms

Anti-sway control for wire-suspended mechanism based on dynamics compensation

Development of operator support system with primitive static states for intelligent construction machinery

Principle of orthogonalization for completely restrained parallel wire driven robot

The reverse displacement analysis of a tensegrity based parallel mechanism

Kinematics Analysis of the Exechon Tripod

Inverse kinematics analysis for incompletely restrained parallel wire mechanisms

Similar Documents

Inverse dynamics analysis and trajectory generation of incompletely restrained wire-suspended mechanisms

Trajectory control of incompletely restrained parallel-wire-suspended mechanism based on inverse dynamics

Inverse dynamics and control of crane-type manipulator

Manipulability measures for multi-wire driven parallel mechanisms

Anti-sway control for wire-suspended mechanism based on dynamics compensation

Development of operator support system with primitive static states for intelligent construction machinery

Principle of orthogonalization for completely restrained parallel wire driven robot

The reverse displacement analysis of a tensegrity based parallel mechanism

Kinematics Analysis of the Exechon Tripod

Inverse kinematics analysis for incompletely restrained parallel wire mechanisms