Development of parallel manipulator "NINJA" with ultra-high-acceleration

Author

Nagai, Kiyoshi ; Matsumoto, Masaharu ; Kimura, Ken Ichiro ; Masuhara, B.

Author_Institution

Dept. of Robotics, Ritsumeikan Univ., Shiga, Japan

Volume

3

fYear

2003

fDate

14-19 Sept. 2003

Firstpage

3678

Abstract

This paper describes the process of developing the parallel mechanism "NINJA ", which is designed to achieve an acceleration rate over 100 [G] (G: gravitational acceleration). To design this mechanism, we introduce a two-step design method (an optimum design method). The technical part of this method consists of formulating the design problem of two steps: Step 1, where we assume and select the design parameters, which should satisfy the required specifications, and Step 2, where we optimize the parameters under the constraint conditions based on the required specifications. To demonstrate the acceleration performance, we present experimental results using the prototype NINJA.

Keywords

acceleration control; manipulator dynamics; manipulator kinematics; optimisation; parameter estimation; NINJA prototype; acceleration performance; acceleration rate; constraint conditions; design parameters; design problem formulation; design specifications; gravitational acceleration; optimization; optimum design method; parallel manipulator; parallel mechanism; two-step design; ultra-high-acceleration; Acceleration; Actuators; Arm; Bonding; Design methodology; Design optimization; Lead compounds; Manipulators; Prototypes; Robots;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2003. Proceedings. ICRA '03. IEEE International Conference on

ISSN

1050-4729

Print_ISBN

0-7803-7736-2

Type

conf

DOI

10.1109/ROBOT.2003.1242161

Filename

1242161