NDLI: Hybrid drive parallel arm and its motion control

Content Provider	IEEE Xplore Digital Library
Author	Kamishima, H. Arai, T. Yuasa, K. Mae, Y. Inoue, K. Miyawaki, K. Koyachi, N.
Copyright Year	2000
Description	Author affiliation: Graduate Sch. of Eng. Sci., Osaka Univ., Japan (Kamishima, H.)
Abstract	A hybrid cylinder/cable drive parallel arm and its motion control are discussed. The basic idea of the hybrid parallel arm is to make the best use of the mixture of the high power cable drive and the cylinder actuation to obtain a heavy-duty manipulator in construction and ship building applications. A prototype arm has been designed and built based on the analysis and the comparative study of several types of hybrid drive mechanisms, the Stewart platform, and a wire drive mechanism. The tension of wire has to be maintained properly in the hybrid mechanism during its motion. The proposed hybrid arm is a kind of actuation-redundant mechanism and its internal force can be freely controlled. The proposed control algorithm is to give wires proper tension during its motion by exploiting the internal force, The required tension and cylinder force can be obtained by compensating each link position command based on its compliance. The repeatability tests show the effectiveness of the proposed algorithm in maintaining the overall stiffness of the arm.
Starting Page	516
Ending Page	521
File Size	553040
Page Count	6
File Format	PDF
ISBN	0780363485
DOI	10.1109/IROS.2000.894656
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	Motion control Wire Robot kinematics Cranes Engine cylinders Force control Power cables Service robots Robotic assembly Productivity
Content Type	Text
Resource Type	Article

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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
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