High-backdrivable parallel-link manipulator with continuously variable transmission

Kenji Tahara, Shingo Iwasa, Shu Naba, Motoji Yamamoto

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

7 Citations (Scopus)

Abstract

This paper proposes a novel high-backdrivable parallel-link manipulator with Continuously Variable Transmission (CVT) mechanism using several shaft actuators. The backdrivability is important and necessary for robots that operate around our life space to guarantee the safety of us, themselves and environments. A rotational actuator with a high reduction ratio reducer has been commonly used in traditional robotics field, but it cannot realize the high-backdrivability without any sensory feedback. In this study, several high-backdrivable shaft actuators are used instead of it. Moreover, the CVT mechanism which is brought by a novel configuration of the parallel mechanism is employed effectively. To utilize multiple shaft actuators with the CVT mechanism is able to surmount a drawback of the shaft actuator whose output force is relatively weak. A simple 1 DOF manipulator is proposed as the first step of this study. Firstly, its kinematic and dynamic models are given. Next, a PD type feedback control signal to regulate the arm's angle and the CVT simultaneously is designed. A static relation between an output end-point force and the CVT mechanism is analyzed. Finally, several fundamental experiments are conducted to show the effectiveness of proposed mechanism.

Original languageEnglish
Title of host publicationIROS'11 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems
Subtitle of host publicationCelebrating 50 Years of Robotics
Pages1843-1848
Number of pages6
DOIs
Publication statusPublished - Dec 29 2011
Event2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11 - San Francisco, CA, United States
Duration: Sep 25 2011Sep 30 2011

Publication series

NameIEEE International Conference on Intelligent Robots and Systems

Other

Other2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11
CountryUnited States
CitySan Francisco, CA
Period9/25/119/30/11

Fingerprint

Manipulators
Actuators
Sensory feedback
Feedback control
Dynamic models
Kinematics
Robotics
Robots
Experiments

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

Cite this

Tahara, K., Iwasa, S., Naba, S., & Yamamoto, M. (2011). High-backdrivable parallel-link manipulator with continuously variable transmission. In IROS'11 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics (pp. 1843-1848). [6048069] (IEEE International Conference on Intelligent Robots and Systems). https://doi.org/10.1109/IROS.2011.6048069

High-backdrivable parallel-link manipulator with continuously variable transmission. / Tahara, Kenji; Iwasa, Shingo; Naba, Shu; Yamamoto, Motoji.

IROS'11 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics. 2011. p. 1843-1848 6048069 (IEEE International Conference on Intelligent Robots and Systems).

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

Tahara, K, Iwasa, S, Naba, S & Yamamoto, M 2011, High-backdrivable parallel-link manipulator with continuously variable transmission. in IROS'11 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics., 6048069, IEEE International Conference on Intelligent Robots and Systems, pp. 1843-1848, 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11, San Francisco, CA, United States, 9/25/11. https://doi.org/10.1109/IROS.2011.6048069
Tahara K, Iwasa S, Naba S, Yamamoto M. High-backdrivable parallel-link manipulator with continuously variable transmission. In IROS'11 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics. 2011. p. 1843-1848. 6048069. (IEEE International Conference on Intelligent Robots and Systems). https://doi.org/10.1109/IROS.2011.6048069
Tahara, Kenji ; Iwasa, Shingo ; Naba, Shu ; Yamamoto, Motoji. / High-backdrivable parallel-link manipulator with continuously variable transmission. IROS'11 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics. 2011. pp. 1843-1848 (IEEE International Conference on Intelligent Robots and Systems).
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