Link length control using dynamics for parallel mechanism with adjustable link parameters-verification with experiment using actual mechanism

Wataru Tanaka; Tatsuo Arai; Kenji Inoue; Tomohito Takubo

doi:10.22260/isarc2005/0011

Link length control using dynamics for parallel mechanism with adjustable link parameters-verification with experiment using actual mechanism

Wataru Tanaka^*, Tatsuo Arai, Kenji Inoue, Tomohito Takubo

^*Corresponding author for this work

Osaka University

Research output: Contribution to conference › Paper › peer-review

Abstract

There has been always a workspace problem with parallel mechanisms. We have proposed a parallel mechanism with linear passive joints to adjust link length.This parallel mechanism can have different workspaces by adjusting link length. When these workspaces are combined, it has larger workspace. We have tried to control the link lengths of this parallel mechanism not actively but passively using dynamics. We have presented the possibility of the proposed control algorithm of these passive linear joints to adjust the link lengths using dynamics with the simulation. This paper has investigated with the experiments in the case of a simple planer prototype.

Original language	English
DOIs	https://doi.org/10.22260/isarc2005/0011
Publication status	Published - 2005
Externally published	Yes
Event	22nd International Symposium on Automation and Robotics in Construction, ISARC 2005 - Ferrara, Italy Duration: 11 Sept 2005 → 14 Sept 2005

Conference

Conference	22nd International Symposium on Automation and Robotics in Construction, ISARC 2005
Country/Territory	Italy
City	Ferrara
Period	11/09/05 → 14/09/05

Keywords

Adjustable mechanical parameters
Dynamics
Parallel mechanism
Passive joint control

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10.22260/isarc2005/0011

Cite this

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title = "Link length control using dynamics for parallel mechanism with adjustable link parameters-verification with experiment using actual mechanism",

abstract = "There has been always a workspace problem with parallel mechanisms. We have proposed a parallel mechanism with linear passive joints to adjust link length.This parallel mechanism can have different workspaces by adjusting link length. When these workspaces are combined, it has larger workspace. We have tried to control the link lengths of this parallel mechanism not actively but passively using dynamics. We have presented the possibility of the proposed control algorithm of these passive linear joints to adjust the link lengths using dynamics with the simulation. This paper has investigated with the experiments in the case of a simple planer prototype.",

keywords = "Adjustable mechanical parameters, Dynamics, Parallel mechanism, Passive joint control",

author = "Wataru Tanaka and Tatsuo Arai and Kenji Inoue and Tomohito Takubo",

year = "2005",

doi = "10.22260/isarc2005/0011",

language = "English",

note = "22nd International Symposium on Automation and Robotics in Construction, ISARC 2005 ; Conference date: 11-09-2005 Through 14-09-2005",

}

Tanaka, W, Arai, T, Inoue, K & Takubo, T 2005, 'Link length control using dynamics for parallel mechanism with adjustable link parameters-verification with experiment using actual mechanism', Paper presented at 22nd International Symposium on Automation and Robotics in Construction, ISARC 2005, Ferrara, Italy, 11/09/05 - 14/09/05. https://doi.org/10.22260/isarc2005/0011

Link length control using dynamics for parallel mechanism with adjustable link parameters-verification with experiment using actual mechanism. / Tanaka, Wataru; Arai, Tatsuo; Inoue, Kenji et al.
2005. Paper presented at 22nd International Symposium on Automation and Robotics in Construction, ISARC 2005, Ferrara, Italy.

Research output: Contribution to conference › Paper › peer-review

TY - CONF

T1 - Link length control using dynamics for parallel mechanism with adjustable link parameters-verification with experiment using actual mechanism

AU - Tanaka, Wataru

AU - Arai, Tatsuo

AU - Inoue, Kenji

AU - Takubo, Tomohito

PY - 2005

Y1 - 2005

N2 - There has been always a workspace problem with parallel mechanisms. We have proposed a parallel mechanism with linear passive joints to adjust link length.This parallel mechanism can have different workspaces by adjusting link length. When these workspaces are combined, it has larger workspace. We have tried to control the link lengths of this parallel mechanism not actively but passively using dynamics. We have presented the possibility of the proposed control algorithm of these passive linear joints to adjust the link lengths using dynamics with the simulation. This paper has investigated with the experiments in the case of a simple planer prototype.

AB - There has been always a workspace problem with parallel mechanisms. We have proposed a parallel mechanism with linear passive joints to adjust link length.This parallel mechanism can have different workspaces by adjusting link length. When these workspaces are combined, it has larger workspace. We have tried to control the link lengths of this parallel mechanism not actively but passively using dynamics. We have presented the possibility of the proposed control algorithm of these passive linear joints to adjust the link lengths using dynamics with the simulation. This paper has investigated with the experiments in the case of a simple planer prototype.

KW - Adjustable mechanical parameters

KW - Dynamics

KW - Parallel mechanism

KW - Passive joint control

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U2 - 10.22260/isarc2005/0011

DO - 10.22260/isarc2005/0011

M3 - Paper

AN - SCOPUS:85087585184

T2 - 22nd International Symposium on Automation and Robotics in Construction, ISARC 2005

Y2 - 11 September 2005 through 14 September 2005

ER -

Link length control using dynamics for parallel mechanism with adjustable link parameters-verification with experiment using actual mechanism

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Keywords

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