NDLI: Configurations and mathematical models of parallel link mechanisms using multi drive linear motors

Content Provider	IEEE Xplore Digital Library
Author	Harada, T. Nagase, M.
Copyright Year	2009
Description	Author affiliation: Department of Mechanical Engineering, Faculty of Science and Engineering, Kinki University, Osaka, Japan (Harada, T.) \|\| Graduate School of Kinki University, Osaka, Japan (Nagase, M.)
Abstract	In this paper, parallel link mechanisms for multi drive linear motors (MDLMs) are proposed. The multi drive is a control method for linear motors in which a number of moving parts are individually driven on one stator part. Various configurations of parallel link mechanisms which were constructed for MDLMs are proposed. These mechanisms offer a wide range of motion in addition to the existing characteristics that parallel mechanisms provide, namely, rigid mechanisms, high precision, and high speed. Moreover, they are suitable for force control because of their low friction direct drive actuators. In this paper, the kinematic and dynamic characteristics of 2-DOF (xy) and 3-DOF (xyθ) planar parallel link mechanisms are investigated. A singularity analysis and internal force control method for a 3-DOF with 4 redundant moving parts is derived. The condition of dynamic decoupling and the constant inertia design of a 2-DOF with 2 moving parts and a 3-DOF with 4 moving parts are derived. The effectiveness of these analyses is then confirmed by numerical simulation. Based on this analysis, a prototype of the 3-DOF with 4 moving parts is designed and developed.
Starting Page	1974
Ending Page	1979
File Size	521370
Page Count	6
File Format	PDF
ISBN	9781424438037
DOI	10.1109/IROS.2009.5354422
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2009-10-10
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Mathematical model Stators Force control Rehabilitation robotics Kinematics Fasteners Robot sensing systems Actuators Friction Service robots
Content Type	Text
Resource Type	Article

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