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Hara S, Tomoda A, Kino H. Improvement in rotational performance by periodic tensile change of a torque transmission wire: basic experimental verification using a single straight wire. Adv Robot 2022. [DOI: 10.1080/01691864.2022.2060715] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/01/2022]
Affiliation(s)
- Satoshi Hara
- Department of Intelligent Mechanical Engineering, Fukuoka Institute of Technology, Fukuoka, Japan
| | - Akinori Tomoda
- Department of Intelligent Mechanical Engineering, Fukuoka Institute of Technology, Fukuoka, Japan
| | - Hitoshi Kino
- Department of Mechanical and Systems Engineering, Chukyo University, Nagoya, Aichi, Japan
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Kino H, Okubo N, Ikeda T, Ochi H. Error Evaluation Method of Approximated Inverse Kinematics for Parallel-Wire Driven System – Basic Study for Three-Wire Planar System –. JOURNAL OF ROBOTICS AND MECHATRONICS 2016. [DOI: 10.20965/jrm.2016.p0808] [Citation(s) in RCA: 2] [Impact Index Per Article: 0.3] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 11/09/2022]
Abstract
[abstFig src='/00280006/04.jpg' width='300' text='Two-degrees-of-freedom planar system using three wires' ] Parallel-wire driven system, a kind of parallel-link mechanism, employs flexible and light wires in place of rigid links. By applying kinematics to parallel-wire driven systems, we seek to obtain the relationship between the end-effector’s position and wire length. Kinematics usually approximates the wire-contacting point of the winding reel (or guiding pulley) in the actuator unit to be a fixed point. Similar kinematic approximations, however, are likely to cause errors in controlling the end-effector position. In this study, therefore, we attempt to evaluate end-effector positioning errors due to inverse kinematic approximations. As the first step, we analyze end-effector positioning errors in two-degrees-of-freedom planar system and propose two methods to evaluate the positioning errors. Then, we conduct two case studies where we compare the errors due to inverse kinematic approximations and effects of wire’s elastic elements in order to confirm effectiveness of the proposed methods for evaluating end-effector positioning errors.
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Takesue N, Mine T, Makino R, Fujiwara K, Fujimoto H. Development of Power Assist Crane Operated by Tensional Information of Dual Wire. JOURNAL OF ROBOTICS AND MECHATRONICS 2013. [DOI: 10.20965/jrm.2013.p0931] [Citation(s) in RCA: 2] [Impact Index Per Article: 0.2] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 11/09/2022]
Abstract
Cranes and hoists at automotive assembly plant handle heavy objects such as batteries to decrease the physical burden on personnel. On/off button operations in such devices during fine positioning increase personnel mental stress. On the other hand, in power assist using force sensors which directly measure operating force, maneuverability is improved but we should be concerned about sensor weight, signal wiring, wire breakage and so on. Therefore, in this study, a power assist system driven by two wires is developed to improvemaneuverability andmaintenance. The method we propose estimates operating force and work load from tensional information on wires and controls the position of work by admittance control. The effectiveness of the proposed method is shown from confirmation and power assist experiments.
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