Title :
Development of an ultrahigh speed robot FALCON using wire drive system
Author :
Kawamura, S. ; Choe, W. ; Tanaka, S. ; Pandian, S.R.
Author_Institution :
Dept. of Mech. Eng., Ritsuneikan Univ., Kusatsu, Japan
Abstract :
High speed robots are an important component of modern assembly operations. In this paper, we describe the development of an ultrahigh speed robot named FALCON (Fast Load Conveyance), based on a wire driven parallel manipulation system. It achieves peak accelerations of up to 43G and maximum velocities of 13 m/s, even if considerably small DC motors (60W) are used. Due to the use of wires in actuation, the problem of vibration arises. We employ internal force control among wires to reduce the vibration by utilizing nonlinear elasticity from the wire mechanism. Experimental results on point to point control using the prototype system are presented under linear PD feedback, to illustrate the effectiveness of the system
Keywords :
DC motors; assembling; industrial control; industrial robots; nonlinear control systems; robots; small electric machines; two-term control; vibration control; 13 m/s; 60 W; FALCON; Fast Load Conveyance; internal force control; linear PD feedback; nonlinear elasticity; point-to-point control; small DC motors; ultrahigh speed robot; wire-drive system; wire-driven parallel manipulation system; Acceleration; DC motors; Elasticity; Force control; Parallel robots; Position control; Prototypes; Robotic assembly; Vibration control; Wire;
Conference_Titel :
Robotics and Automation, 1995. Proceedings., 1995 IEEE International Conference on
Conference_Location :
Nagoya
Print_ISBN :
0-7803-1965-6
DOI :
10.1109/ROBOT.1995.525288
