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

Tomofumi Okada, Kenji Tahara

研究成果: Chapter in Book/Report/Conference proceedingConference contribution

5 被引用数 (Scopus)

抄録

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.

本文言語英語
ホスト出版物のタイトルAIM 2014 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics
出版社Institute of Electrical and Electronics Engineers Inc.
ページ617-622
ページ数6
ISBN(印刷版)9781479957361
DOI
出版ステータス出版済み - 1 1 2014
イベント2014 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2014 - Besancon, フランス
継続期間: 7 8 20147 11 2014

出版物シリーズ

名前IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM

その他

その他2014 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2014
Countryフランス
CityBesancon
Period7/8/147/11/14

All Science Journal Classification (ASJC) codes

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

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