Author:
Jiang Changan, ,Takagi Kentaro,Hirano Shinya,Suzuki Tatsuya,Hosoe Shigeyuki,Hashimoto Kazunobu,Nozawa Akitoshi, , ,
Abstract
<div class=""abs_img""> <img src=""[disp_template_path]/JRM/abst-image/00270005/06.jpg"" width=""200"" />
Tube-type DEA based mechanism</div> In this research, tube-type dielectric elastomer actuators (DEAs) are employed to develop a 3-DOF flexible parallel link mechanism instead of traditional actuators such as linear motors and pneumatic cylinders. As an application case, the developed mechanism fixed with a marker pen is used to implement one stroke draw and human like draw of alphabets on a plane. According to the prototype of this mechanism, kinematics and inverse kinematics problems are considered. Based on the kinematics and inverse kinematics equations, the numerical simulations are done for searching the reachable area of the tip of the marker pen and checking the lengths of DEAs during drawing. Finally, experiment results show the practicability of the developed mechanism. </span>
Publisher
Fuji Technology Press Ltd.
Subject
Electrical and Electronic Engineering,General Computer Science
Reference14 articles.
1. J. P. Merlet, “Parallel robots,” London: Kluwe Academic Publishers, 2000.
2. Y. Takeda, K. Kamiyama, Y. Maki, M. Higuchi, and K. Sugimoto, “Development of Position-Orientation Decoupled Spatial In-Parallel Actuated Mechanisms with Six Degrees of Freedom,” J. of Robotics and Mechatronics, Vol.17, No.1, pp. 59-68, 2005.
3. T. Onodera, E. Suzuki, M. Ding, H. Takemura, and H. Mizoguchi, “Force, Stiffness and Viscous Damping Control of a Stewart-Platform-Type Ankle-Foot Rehabilitation Assist Device with Pneumatic Actuator,” J. of Robotics and Mechatronics, Vol.25, No.6, pp. 897-905, 2013.
4. K. Lee and D. K. Shah, “Kinematic analysis of a three-degrees-of-freedom in-parallel actuated manipulator,” IEEE J. of Robotics and Automation, Vol.4, No.3, pp. 354-360, 1988.
5. G. Pfreundschuh, V. Kumar, and T. Sugar, “Design and control of a 3 DOF in-parallel actuated manipulator,” Proc. of the 1991 IEEE Int. Conf. on Robotics and Automation, pp. 1659-1664, 2003.
Cited by
4 articles.
订阅此论文施引文献
订阅此论文施引文献，注册后可以免费订阅5篇论文的施引文献，订阅后可以查看论文全部施引文献