Title :
Study of parallel mechanism with back-flip motion applying parallel drive system of linear motors
Author :
Uchikoshi, Tomoya ; Harada, Takashi
Author_Institution :
Dept. of Mech. Eng., Kinki Univ., Higashi-Osaka, Japan
Abstract :
A redundantly actuated 3-degrees-of-freedom (xyθ) planar parallel mechanism with back-flip motion (PM BFM) is proposed. The back-flip motion means that the end plate of the parallel mechanism rotates more than 180 degrees. In this paper, firstly, mechanical features of the PM BFM are revealed. Secondly, a parallel drive system of linear motors is applied to the PM BFM. This parallel drive system is a driving method in which two linear motors on two stators are driven by a single servo amplifier. Features of the parallel drive system are revealed. Finally, the peculiar mechanical interference of the PM BFM is analyzed.
Keywords :
amplifiers; drives; interference; linear motors; plates (structures); servomechanisms; stators; 3-degrees-of-freedom planar parallel mechanism; back-flip motion; end plate; linear motor; parallel drive system; peculiar mechanical interference; servo amplifier; stator; Current measurement; Force; Interference; Joints; Servomotors; Stators; Vectors;
Conference_Titel :
Robotics and Biomimetics (ROBIO), 2011 IEEE International Conference on
Conference_Location :
Karon Beach, Phuket
Print_ISBN :
978-1-4577-2136-6
DOI :
10.1109/ROBIO.2011.6181585
