Development of a parallel manipulator for force display

Author

Hashimoto, Minoru ; Kami, Katsutoshi ; Yamamoto, Ryoichi

Author_Institution

Dept. of Kansei Eng., Shinshu Univ., Nagano, Japan

Volume

1

fYear

2000

fDate

2000

Firstpage

235

Abstract

We have developed a high performance force display system with a parallel manipulator. The manipulator is composed of a parallel mechanism with direct drive linear servo actuators. The mechanism is called a fixed linear type parallel mechanism. Since the actuators are fixed on the base, the high speed motion of the manipulator is possible. In addition, the mechanism has high load capacity and back derivability. These characteristics lead to a high performance force feedback control. We describe the design policy, the analysis of the operation area, the prototyping and control of the parallel manipulator

Keywords

Jacobian matrices; actuators; force feedback; manipulator kinematics; motion control; servomechanisms; actuators; back derivability; design policy; direct drive linear servo actuators; fixed linear type parallel mechanism; force display; high load capacity; high performance force feedback control; high speed motion; parallel manipulator; Bonding forces; Displacement control; Displays; Feedback control; Force control; Friction; Hydraulic actuators; Materials science and technology; Prototypes; Servomechanisms;

fLanguage

English

Publisher

ieee

Conference_Titel

Industrial Electronics Society, 2000. IECON 2000. 26th Annual Confjerence of the IEEE

Conference_Location

Nagoya

Print_ISBN

0-7803-6456-2

Type

conf

DOI

10.1109/IECON.2000.973156

Filename

973156