Development of a two-link planar manipulator with continuously variable transmission mechanism

Tomofumi Okada, Kenji Tahara

Research output: Chapter in Book/Report/Conference proceedingConference contribution

4 Citations (Scopus)

Abstract

This paper proposes a novel two-link planar manipulator with continuously variable transmission (CVT) mechanism by means of plural linear shaft motors. In our previous works, we have proposed the parallel-link manipulator with the CVT mechanism which has two orthogonal DOFs. However, its configuration is not useful for a practical field because only one main link can be rotated around two joints like a joystick. In order for this mechanism to be more useful, the two-link planar type manipulator with the CVT is newly modeled and developed. Firstly, the proposed manipulator is modeled, and its control signals are designed. Next, the output force of the end-point of the manipulator is evaluated by using both the Manipulating-Force Ellipsoid and the Dynamic Manipulability Ellipsoid. After that, several fundamental experiments are performed to evaluate the CVT mechanism and show the effectiveness of the proposed manipulator.

Original languageEnglish
Title of host publicationAIM 2014 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages617-622
Number of pages6
ISBN (Print)9781479957361
DOIs
Publication statusPublished - Jan 1 2014
Event2014 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2014 - Besancon, France
Duration: Jul 8 2014Jul 11 2014

Publication series

NameIEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM

Other

Other2014 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2014
CountryFrance
CityBesancon
Period7/8/147/11/14

Fingerprint

Manipulators
Experiments

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Software
  • Computer Science Applications
  • Electrical and Electronic Engineering

Cite this

Okada, T., & Tahara, K. (2014). Development of a two-link planar manipulator with continuously variable transmission mechanism. In AIM 2014 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics (pp. 617-622). [6878147] (IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/AIM.2014.6878147

Development of a two-link planar manipulator with continuously variable transmission mechanism. / Okada, Tomofumi; Tahara, Kenji.

AIM 2014 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics. Institute of Electrical and Electronics Engineers Inc., 2014. p. 617-622 6878147 (IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Okada, T & Tahara, K 2014, Development of a two-link planar manipulator with continuously variable transmission mechanism. in AIM 2014 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics., 6878147, IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM, Institute of Electrical and Electronics Engineers Inc., pp. 617-622, 2014 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2014, Besancon, France, 7/8/14. https://doi.org/10.1109/AIM.2014.6878147
Okada T, Tahara K. Development of a two-link planar manipulator with continuously variable transmission mechanism. In AIM 2014 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics. Institute of Electrical and Electronics Engineers Inc. 2014. p. 617-622. 6878147. (IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM). https://doi.org/10.1109/AIM.2014.6878147
Okada, Tomofumi ; Tahara, Kenji. / Development of a two-link planar manipulator with continuously variable transmission mechanism. AIM 2014 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics. Institute of Electrical and Electronics Engineers Inc., 2014. pp. 617-622 (IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM).
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