Design and Control of a Compliant Parallel Manipulator-Reference-Cited by-同舟云学术

Design and Control of a Compliant Parallel Manipulator

Published:2002-11-26 Issue:4 Volume:124 Page:676-683
ISSN:1050-0472
Container-title:Journal of Mechanical Design
language:en
Short-container-title:

Author:

Sugar Thomas G.¹,Kumar Vijay²

Affiliation:

1. Mechanical and Aerospace Engineering, Arizona State University, Tempe, AZ 85287

2. General Robotics and Active Sensory, Perception, (GRASP) Laboratory, University of Pennsylvania, Philadelphia, PA 19104

Abstract

We describe a novel design for a compliant arm that can be mounted on a mobile robot. Because the arm is compliant, a mobile robot can manipulate or interact with objects that are not precisely positioned in the environment. The main features of the arm are the in-parallel architecture and a novel control scheme that allows us to easily control the Cartesian stiffness or impedance in the plane. Springs are added in series to the limbs of the parallel manipulator. We analyze one limb and the manipulator to determine its performance when either controlling the force applied to an object or controlling its stiffness. Further, we present experimental results that show the performance of the compliant arm.

Publisher

ASME International

Subject

Computer Graphics and Computer-Aided Design,Computer Science Applications,Mechanical Engineering,Mechanics of Materials

Link

http://asmedigitalcollection.asme.org/mechanicaldesign/article-pdf/124/4/676/5798537/676_1.pdf

Reference20 articles.

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3. Colgate, J. E., and Hogan, N., 1988, “Robust Control of Dynamically Interacting Systems,” Int. J. Control, 48(1), pp. 65–88.

4. Kazerooni, H., Houpt, P. K., and Sheridan, T. B., 1986, “Robust Compliant Motion for Manipulators, Part 2: Design Method,” IEEE J. Rob. Autom., RA-2(2), pp. 93–105.

5. Kazerooni, H., Sheridan, T. B., and Houpt, P. K., 1986, “Robust Compliant Motion for Manipulators, Part 1: The Fundamental Concepts of Compliant Motion,” IEEE J. Rob. Autom., RA-2(2), pp. 83–92.

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