Mechanism and Control of Parallel-Wire Driven System

• Kino Hitoshi

  Fukuoka Institute of Technology

• Kawamura Sadao

  Ritsumeikan University

抄録

Many of the conventional robot manipulators have a serial-link mechanism to imitate a human arm. In recent years, however, industries have been aggressive in putting parallel-link mechanisms into practical use to cope with various problems that no conventional serial-link mechanisms have ever been able to solve. Under the circumstances, this paper describes a parallel-wire driven system, one of the parallel mechanisms. It is a system to drive a controlled object with flexible and light wires instead of rigid links. It has many advantages over conventional serial-link mechanisms or other ordinary parallel-link mechanisms. This paper first overviews previous studies on parallel-wire driven robots, and then details the mechanism and control of these systems, as well as examples of their application.

収録刊行物

• Journal of Robotics and Mechatronics

  Journal of Robotics and Mechatronics 27 (6), 599-607, 2015-12-20

  富士技術出版株式会社

キーワード

• cable
• tendon
• suspended
• crane
• parallel

詳細情報

• CRID: 1390564238103915520
• NII論文ID: 130007671077
• NII書誌ID: AA10809998
• DOI: 10.20965/jrm.2015.p0599
• ISSN: 18838049
• ISSN: 09153942
• NDL書誌ID: 026998304
• Web Site: http://id.ndl.go.jp/bib/026998304
• Web Site: https://ndlsearch.ndl.go.jp/books/R000000004-I026998304
• Web Site: https://www.fujipress.jp/main/wp-content/themes/Fujipress/phyosetsu.php?ppno=ROBOT002700060001
• 本文言語コード: en
• データソース種別:
  • JaLC
  • NDL
  • Crossref
  • CiNii Articles
  • KAKEN
• 抄録ライセンスフラグ: 使用不可