A force display system using a serial-link structure driven by a parallel-wire mechanism

Authors: Hitoshi Kino; Shigeru Yabe; Sadao Kawamura

Source: Advanced Robotics, Volume 19, Number 1, 2005 , pp. 21-37(17)

Publisher: VSP, an imprint of Brill

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Abstract:

A new type of robot system for force display has been developed using a serial-link structure driven by a parallel mechanism. This system consists of serially jointed links as is usual in industrial robots and parallel wires that are driven by actuator units located on a base. Therefore, this system has the advantages of both a serial-link structure robot and a parallel-wire-driven robot, such as large work space, high-speed operation, safety, non-interference with an operator, etc. First, we explain the concept of the purposed system. Second, we analyze static conditions for each joint of the proposed system. Based on Partial Vector Closure, the minimum number of wires on each link is determined. Third, we introduce a prototype of the force display system and the performance is demonstrated though experimental results. Finally, we introduce an application of virtual reality for rehabilitation training.

Keywords: PARTIAL VECTOR CLOSURE; SERIAL; PARALLEL; WIRE; FORCE DISPLAY

Document Type: Research article

DOI: 10.1163/1568553053020287

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