Development of a Power-Assist Lifting Device Using a Multi-DOF Suspension Mechanism. 1st Report. Study of a Power Assist Lifting Device and its Control Technique.

昌樹, 早津; 学, 山田; 泰敬, 田川; 大助, 山口

doi:10.1299/kikaic.68.2009

Cited by 4 publications

References 5 publications

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A Suspended Cable-Driven Parallel Robot for Human-Cooperative Object Transportation

Sugahara

Chen

ATSUMI

et al. 2020

ROMANSY 23 - Robot Design, Dynamics and Control

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This paper describes the development of the suspended cable-driven parallel robot for object transportation having power assist function. The robot consists of the winches to drive four cables which suspend the object and control its three degrees of freedom motion. The impedance controller based on the external force measured by the tension sensors enables the operator to transport and position the object intuitively by directly applying the force to the object. Additionally, the workspace departure avoidance control by installing the virtual stiffness into the controller is also introduced.

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A Suspended Cable-Driven Parallel Robot for Human-Cooperative Object Transportation

Sugahara

Chen

ATSUMI

et al. 2020

ROMANSY 23 - Robot Design, Dynamics and Control

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Development of five-degree-of-freedom wire suspension power-assisted system using linear cylinders

Miyoshi

Suzuki

Terashima

2011

2011 IEEE International Conference on Robotics and Automation

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Improvement of the Vibration Damping Performance for Parallel Wire Type Positioning Systems (Technique with Natural Frequency Control and Tuned Mass Damper)

Tagami¹,

Yamaguchi²,

Tagawa

2012

Trans.JSME(C)

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Parallel wire type positioning systems, which consist of several tensioned wires in the plane, have many practical applications in industrial fields. However, the conventional systems are easy to vibrate in the direction perpendicular to the wire plane, and this problem limits the use of the system, in spite of a lot of their advantages. For this reason, a new parallel wire type positioning system with a vibration suppression mechanism (tuned mass damper: TMD) is developed in this study. However the TMD is effective only for the object with a constant resonance frequency, whereas the parallel wire systems generally have a variable resonance frequency depending on the wire tensions. Therefore, authors have developed new technique which can control both the position (attitude) and the natural frequency of the object simultaneously. This paper first describes the detail of the proposed technique, then effectiveness of the technique is verified through several experiments.

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Development of a Power-Assist Lifting Device Using a Multi-DOF Suspension Mechanism. 1st Report. Study of a Power Assist Lifting Device and its Control Technique.

Cited by 4 publications

References 5 publications

A Suspended Cable-Driven Parallel Robot for Human-Cooperative Object Transportation

A Suspended Cable-Driven Parallel Robot for Human-Cooperative Object Transportation

Development of five-degree-of-freedom wire suspension power-assisted system using linear cylinders

Improvement of the Vibration Damping Performance for Parallel Wire Type Positioning Systems (Technique with Natural Frequency Control and Tuned Mass Damper)

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