By T. Takamori and K. Tsuchiya (Eds.)
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Additional resources for Robotics, Mechatronics and Manufacturing Systems
North-Holland) © 1993 IMACS. All rights reserved. 33 New Robotic Mechanism Using a Parallel Moving Platform a K. Machida, Y. Toda, and T. Iwata S. Iikura, T. Komatsu, and T. Honda a b b Electrotechnical Laboratory, 1-1-4 Umezono, Tsukuba 305, Japan Toshiba Corporation, 4-1 Ukishima-cho, Kawasaki-ku, Kawasaki 210, Japan Abstract A smart end effector with a closed loop mechanism has been developed to add dexterous and flexible capability to coarse space work systems. In developed end effector system, a combination of partial parallel link and a gimbal is designed.
F i g u r e 3 shows t h e d e f o r m a t i o n of t h e t r u s s m o d u l e as t h e real m o d e l . In t h i s case, t h e relation (3) for t h e ideal m o d e l is e x t e n d e d for t h e real m o d e l as Hn = Ln + Rn (6a) y n = (6b) o 3 + y n T w h e r e Yn = [ynx,yny,ynz] d e n o t e s t h e slope angles ynx, yny a n d t w i s t i n g angle ynz of m e m b e r n l a n d t h e zero 0 3 s t a n d s for n o existence of r o t a t i o n a l m o v e m e n t of m e m b e r n l in rigid b o d y s y s t e m .
7 T h e tip of end-effector is translated while being kept horizontally. Y Y A ®«® )©«® } (Τ) (a) GIE ίΛ(Τ\ ©@®@© ®Θ® (c) G D E a view from the direction of Ζ axis (e) GSE Ζ A © θ ©@(Β©Θ»Χ (b) GIE •Χ (d) G D E (f) GSE a view from the direction of Y axis Fig. 8 T h e tip of end-effector is translated while having an inclination of 20 degrees around Y axis. J. 836 Fig. 9 GIEs of serial link manipulator (a) (b) (c) Fig. Fujimoto et al. Fujimoto et al. Ogawa : Dynamic Analysis of Robot Arms Using Inverse Inertia Matrices and Its Applications to Task Planning and End-effector Design , SICE, 23-9, 81/88, (1987) Robotics, Mechatronics and Manufacturing Systems T.
Robotics, Mechatronics and Manufacturing Systems by T. Takamori and K. Tsuchiya (Eds.)