Development of a manipulator suspended by parallel wire structure

Osumi, Hisashi; Utsugi, Yasushi; Koshikawa, M.

doi:10.1109/iros.2000.894653

Cited by 26 publications

(13 citation statements)

References 10 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Osumi and colleagues [7] and [8] installed a manipulator on the top plate. In this mechanism, the top plate produced the global motion, whereas the changing pose of the manipulator produced the local motion.…”

Section: Introductionmentioning

confidence: 99%

Kinematical and static force analysis on redundant drive wire mechanism with velocity constraint modules to reduce the number of actuators

Dobashi

Nagai

2016

Robomech J

View full text Add to dashboard Cite

This study proposes new wire mechanism called "the redundant drive wire mechanism" (RDWM), driven by double actuator modules. The RDWM is configured with velocity constraint modules (VCMs) that provide high-acceleration global and fine local motions. Suitable RDWM candidates are found by combining the kinematic analysis with static force analysis. The study also clarifies the role of VCMs in reducing the required number of actuators while keeping the orientation of the top plate. We propose a judgment procedure with three steps: a static force analysis in the whole motion space, a kinematic analysis that finds the active constraint space wherein the top plate can produce velocity and a static force analysis in this active constraint space. The proposed judgment procedure and the role of VCMs are validated by examples.

show abstract

Section: Introductionmentioning

confidence: 99%

Kinematical and static force analysis on redundant drive wire mechanism with velocity constraint modules to reduce the number of actuators

Dobashi

Nagai

2016

Robomech J

View full text Add to dashboard Cite

show abstract

“…A number of researchers [1,[33][34][35] concept termed the cable force region is also explored by Osumi et al in [36].…”

Section: Static Equilibrium Workpacementioning

confidence: 99%

Workspace Classification and Quantification Calculations of Cable-Driven Parallel Robots

Duan

2014

Advances in Mechanical Engineering

View full text Add to dashboard Cite

Large workspace is one of the promising advantages possessed by the cable-driven parallel robots (CDPR) over the conventional rigid-link robots. This paper focuses on the dynamic analysis and workspace classification based on the general motion equation of cable robot and the unilateral property of cables. The combinations of different types of two conditions lead to several different types of workspace, including static equilibrium workspace, wrench closure workspace, wrench feasible workspace, dynamic workspace, and collision-free workspace. A qualitative comparison of different types of workspaces is performed. The simulation results verify the relationship between the several types of workspaces.

show abstract

“…The lower part could also perform a rotation motion around the vertical axis w.r.t the upper part using a connecting part between the upper part and the lower part to help the user in changing the moving direction. Another approach changed the orientation of the end-effector and installed arms on the top plate [10][11][12]. The orientation of the end effector could be changed by changing the position of the arm.…”

Section: Introductionmentioning

confidence: 99%

Configuration of redundant drive wire mechanism using double actuator modules

Dobashi

Nagai

2016

Robomech J

View full text Add to dashboard Cite

A new wire mechanism called "redundant drive wire mechanism" (RDWM), driven by double actuator modules (DAMs) is introduced. When RDWM is used for producing multi-directional motions using DAMs, the number of wires increases and the wire matrix would become complicated. This makes finding and checking the candidates difficult. Therefore, we introduce an easier and simpler approach for judging RDWM candidates, which includes two procedures: conversion of the wire matrix to a new form, and judgment of candidates using the essential component of the new form of wire matrix related to the global motion. This paper shows a fast and convenient method for judging whether an RDWM candidate can produce the resultant forces needed to achieve required motions. The examples demonstrate the validity of the new method in dealing with RDWM candidates containing many wires.

show abstract

Development of a manipulator suspended by parallel wire structure

Cited by 26 publications

References 10 publications

Kinematical and static force analysis on redundant drive wire mechanism with velocity constraint modules to reduce the number of actuators

Kinematical and static force analysis on redundant drive wire mechanism with velocity constraint modules to reduce the number of actuators

Workspace Classification and Quantification Calculations of Cable-Driven Parallel Robots

Configuration of redundant drive wire mechanism using double actuator modules

Contact Info

Product

Resources

About