Design and Control of a Seven Degrees of Freedom Manipulator Actuated by a Coupled Tendon-Drive System

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概要

• 論文の詳細を見る

• A seven degrees of freedom manipulator actuated by a tendon-drive system has been developed. In order to reduce the weight and volume of the manipulator, each actuator was installed on the base frame, and the actuator torque was transmitted to each joint through a tendon pulley system. The tendon-drive mechanism, which uses a coupled drive, actuates the manipulator by controlling the tension of each tendon. In the developed system, eight direct-drive motors and tendon pulleys were used for a seven degrees of freedom manipulator. In this paper, the structure of the manipulator developed is first explained. Then, the tendon-tension-based control method for the coupled drive manipulator is formulated. Finally, through simple experiments using the manipulator in which the control system was installed, the effectiveness of the proposed structure and the control method is demonstrated.

• 一般社団法人日本機械学会の論文
• 1995-06-15

著者

• TANIE KAZUO

  Department of Robotics, Mechanical Engineering Laboratory

• Tanie K

  Department Of Robotics Mechanical Engineering Laboratory Aist Miti

• Tanie Kazuo

  Department Of Robotics Mechanical Engineering Laboratory Ministry Of International Trade And Industr

• Tanie K

  Mechanical Engineering Laboratory

• Yokoi Kazuhito

  Department of Robotics Mechanical Engineering Laboratory, AIST, MITI

• Komoriya Kiyoshi

  Department of Robotics Mechanical Engineering Laboratory, AIST, MITI

• Imamura Nobuaki

  Shinko Research Co., Ltd.

• Kawai Takeshi

  Shinko Techno Engineering Co., Ltd.

• Agou Kenji

  Shinko Techno Engineering Co., Ltd.

• Agou Kenji

  Shinko Techno Engineering Co. Ltd.

• Yokoi Kazuhito

  Department Of Robotics Mechanical Engineering Laboratory Aist Miti

• Komoriya K

  Aist Tsukuba Sci. City Jpn

• Tanie Kazuo

  Department Of Mechanical Engineering School Of Science And Engineering Waseda University

• Imamura Nobuaki

  Shinko Research Co. Ltd.

• Imamura Nobuaki

  Shinko Research Co.

• Kawai Takeshi

  Shinko Techno Engineering Co. Ltd.

• Yokoi Kazuhito

  Department of Bioinformatics, Institute of Science and Engineering, Ritsumeikan University

関連論文

• Stabiluity compensation of a mobile manipulator by manipulator motion : feasibility and planning
• Design and Control of a Seven Degrees of Freedom Manipulator Actuated by a Coupled Tendon-Drive System
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