A hybrid drive parallel arm for heavy material handling.

This article discusses a hybrid drive parallel arm driven by cables and cylinders in order to design a compact handling arm, thus enlarging its workspace. Our major objective is to develop a dexterous arm capable of controlling six-degree-of-freedom (DOF) motion of heavy materials. The article inclu...

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Bibliographic Details
Published in:	IEEE Robotics and automation magazine 9, 1 (2002).
Main Author:	Arai, T.
Format:	Article
Language:	English
Subjects:	Cable drive mechanism. Compact handling arm. Construction industry. Cylinders. Dexterous arm. End-effector. Heavy material handling. Hybrid actuation. Hybrid drive parallel arm. Inverse kinematics. Kinematics. Link parameters. Midscale apartment building construction. Parallel mechanisms. Scale model. Shipbuilding industry. Six-degree-of-freedom motion control. Symmetrical configurations. Symmetrical link arrangements. Workspace analysis.