A hybrid drive parallel arm for heavy material handling

This article discusses a hybrid drive parallel arm driven by cables and cylinders in order to design a compact handling arm, thus enlarging its workspace. Our major objective is to develop a dexterous arm capable of controlling six-degree-of-freedom (DOF) motion of heavy materials. The article inclu...

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Bibliographic Details
Published in:IEEE robotics & automation magazine 2002-03, Vol.9 (1), p.45-54
Main Authors: Arai, T., Yuasa, K., Mae, Y., Inoue, K., Miyawaki, K., Koyachi, N.
Format: Article
Language:English
Subjects:
Applied sciences
Automatic control
Buildings. Public works
Cables
Computer science
control theory
systems
Construction equipments
Construction works
Control theory. Systems
Cranes
Cylinders
Exact sciences and technology
Expansion
Handling
Kinematics
Materials handling
Motion control
Parallel robots
Production facilities
Productivity
Prototypes
Robot kinematics
Robotic assembly
Robotics
Robotics and automation
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Summary:This article discusses a hybrid drive parallel arm driven by cables and cylinders in order to design a compact handling arm, thus enlarging its workspace. Our major objective is to develop a dexterous arm capable of controlling six-degree-of-freedom (DOF) motion of heavy materials. The article includes a basic concept of parallel mechanisms with hybrid actuation, comparisons and evaluations of some types of hybrid mechanisms based on its kinematics and statics, and finally introduces a designed prototype arm.
ISSN:1070-9932
1558-223X
DOI:10.1109/100.993154