Link length control using dynamics for parallel mechanism with adjustable link parameters

W. Tanaka*, T. Arai, K. Inoue, T. Takubo, Y. Mae, Y. Koseki

*此作品的通讯作者

科研成果: 书/报告/会议事项章节章节同行评审

摘要

Parallel mechanisms have some good advantages compared with conventional articulated arms. The only drawback is its small workspace because of its in-parallel configuration. There has always been a workspace problem with parallel mechanisms. The chapter proposes that a parallel mechanism with linear passive joints to adjust link length. This parallel mechanism can achieve different workspaces by adjusting the link length. The link lengths of the parallel mechanism not active but passive using dynamics are also tried to be controlled. This chapter proposes the control algorithm of these passive linear joints to adjust the link lengths using dynamics in the case of a 2- DOF planer prototype.

源语言英语
主期刊名Mechatronics for Safety, Security and Dependability in a New Era
出版商Elsevier Ltd.
431-434
页数4
ISBN(印刷版)9780080449630
DOI
出版状态已出版 - 2007
已对外发布

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Tanaka, W., Arai, T., Inoue, K., Takubo, T., Mae, Y., & Koseki, Y. (2007). Link length control using dynamics for parallel mechanism with adjustable link parameters. 在 Mechatronics for Safety, Security and Dependability in a New Era (页码 431-434). Elsevier Ltd.. https://doi.org/10.1016/B978-008044963-0/50087-4