In-parallel actuated mechanisms as a new robotic mechanismFunabashi, Hiroaki
doi: 10.1163/156855394X00239pmid: N/A
The concept of parallel connection or in-parallel actuation is described for the closed-loop mechanisms with multiple degrees of freedom which compose those manipulators or robots called parallel. The structural, kinematic, static and dynamic characteristics of the mechanisms are also explained. Then, possible applications of the mechanisms to robots as an alternative to conventional serial robots are introduced together with problems to be solved.
In-parallel actuated mechanisms as a new robotic mechanismFunabashi, Hiroaki
doi: 10.1163/156855394X00482pmid: N/A
The concept of parallel connection or in-parallel actuation is described for the closed-loop mechanisms with multiple degrees of freedom which compose those manipulators or robots called parallel. The structural, kinematic, static and dynamic characteristics of the mechanisms are also explained. Then, possible applications of the mechanisms to robots as an alternative to conventional serial robots are introduced together with problems to be solved.
Structures and characteristics of parallel manipulatorsUchiyama, Masaru
doi: 10.1163/156855394X00248pmid: N/A
Parallel structures have remarkable characteristics such as high precision, high load capacity, high rigidity and high speed. Therefore, they have received a lot of attention as alternative structures for robot manipulators. This paper reviews the recent results on properties of the parallel manipulator. First, the basics of the link mechanism, which is necessary to understand the structure of the parallel manipulator, is summarized before the structure of the parallel manipulator is defined. Then, the parallel manipulator is compared with the serial manipulator. The singular point of the parallel manipulator and the optimum design of the structure of the parallel manipulator are also discussed.
Control of parallel mechanismsTadokoro, Satoshi
doi: 10.1163/156855394X00257pmid: N/A
There is a great deal of research on control of parallel mechanisms that considers their characteristics or how they may be made best use of. In this review, a dynamic control method by Uecker is introduced. As to force control, it explains effectiveness of parallel mechanisms and a hybrid control scheme by Nguyen. Merits of redundant actuation are discussed. Minimization of actuation torque by Ropponen, singularity avoidance by Kumar, direct compliance control by Yokoi and relation of internal force to stiffness by Hanafusa are introduced.
Large-scale framed structure as parallel mechanism with hyper-redundancyTanaka, Masao
doi: 10.1163/156855394X00266pmid: N/A
The truss, a typical framed structure, is a fixed/dead structural system. A variable system is derived from the truss by installing a kinematic pair in each of the truss members. The system obtained is not a structure but a mechanism in the conventional sense. This is the truss-type mechanism, and it is hyper-redundant and quite flexible due to the highly multiple degrees of freedom when derived from the large scaled truss. The truss-type mechanism is used as a deployable structure and an adaptive structure. This article reviews the story of the evolution from the truss as a fixed structure to the adaptive truss structure. This system has a broad potential to create versatile flexibility in the structural system in general, although current applications are concentrated on space structure engineering.