Prototype Development of a Parallel-Link Robot Actuated by Pneumatic Linear Drives with Variable Inclination Mechanisms
Takahiro Kosaki*, Yoshihiro Morinaga*, and Manabu Sano**
*Faculty of Information Sciences, Hiroshima City University, 3-4-1 Ozuka-higashi, Asaminami-ku, Hiroshima 731-3194, Japan
**Faculty of Informatics, Osaka Gakuin University, 2-36-1 Kishibe-Minami, Suita-shi, Osaka 564-8511, Japan
Parallel-link robots are generally high in power and precision because of their parallel arrangement of actuators. However, they have a workspace smaller than that of serial-link robots. In this paper, we develop a parallel-link robot prototype with pneumatic linear drives in which a mechanism for varying the actuator inclination is incorporated to enlarge the workspace. Our parallel-link robot realizes the rotational and translational motions of the end effector principally by means of the linear reciprocating motions of pneumatic linear drives mounted on the base. Auxiliary pneumatic actuators are used to adjust the inclination angles of those main pneumatic linear drives. The use of pneumatic actuators to realize the proposed parallel-link robot results in a lightweight, compact, and low-cost construction. The workspace and motion transmissibility of our parallel-link robot are analyzed through simulations based on kinematics; then, experimental investigations are carried out using the prototype.
-  J.-P. Merlet, “Parallel robots,” Springer, 2006.
-  T. Oiwa, “Precision Mechanisms Based on Parallel Kinematics,” Int. J. of Automation Technology, Vol.4, No.4, pp. 326-337, 2010.
-  D. Stewart, “A platform with Six Degrees of Freedom,” Proc. Inst. Mechanical Engineers, Vol.180, No.15, pp. 371-386, 1965.
-  T. Masuda, M. Fujiwara, N. Kato, and T. Arai, “Mechanism configuration evaluation of a linear-actuated parallel mechanism using manipulability,” Proc. of IEEE Int. Conf. on Robotics and Automation, pp. 489-495, 2002.
-  Z. Yongsheng, D. Yanbin, L. Shunpan, D. Yuchao, and Z. Daxing, “System debugging and experimental analysis of the 6-PUS/UPU parallel manipulator,” Proc. of Int. Conf. on Computer, Mechatronics, Control and Electronic Engineering, Vol.2, pp. 376-381, 2010.
-  F. Patane, S. Rossi, and P. Cappa, “Experimental validation of an impedance controlled parallel robot for postural rehabilitation,” Proc. of the 4th IEEE RAS&EMBS Int. Conf. on Biomedical Robotics and Biomechatronics, pp. 1077-1080, 2012.
-  F.Wu, L.Wang,W. Rong, and L. Sun, “Dynamic Dimensional Synthesis of a Precision 6-DOF Parallel Manipulator,” Proc. of IEEE Int. Conf. on Mechatronics and Automation, pp. 831-836, 2012.
-  H. Ota, T. Shibukawa, and T. Tooyama, “Study of Kinematic Calibration Method for Parallel Mechanism – Kinematic Calibration Using Inverse Kinematics –,” J. Japan. Soc. Prec. Eng., Vol.66, No.6, pp. 950-954, 2000.
-  Y. Shiga, Y. Tanaka, H. Goto, and H. Takeda, “Design of a Six Degree-of-Freedom Tripod Parallel Mechanism for Flight Simulators,” Int. J. of Automation Technology, Vol.5, No.5, pp. 715-721, 2011.
-  P. Beater, “Pneumatic drives,” Springer, 2007.
-  Y. Hitaka, Y. Tanaka, Y. Tanaka, J. Ishii, and Y. Yaobao, “Development of pneumatic parallel force feedback,” Int. J. of Automation Technology, Vol.4, No.4, pp. 380-387, 2010.
-  M. Takaiwa and T. Noritsugu, “Positioning Control of Pneumatic Parallel Manipulator,” Int. J. of Automation Technology, Vol.2, No.1, pp. 49-55, 2008.
-  M. Takaiwa and T. Noritsugu, “Wrist rehabilitation equipment using pneumatic parallel manipulator,” World Automation Congress, pp. 1-6, 2010.
-  T. Arai, K. Takayama, K. Inoue, Y. Mae, and Y. Koseki, “Parallel Mechanisms with Adjustable Link Parameters,” Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 671-676, 2000.
-  W. Tanaka, T. Arai, K. Inoue, T. Takubo, and Y. Mae, “Workspace analysis of parallel mechanism with adjustable link parameters,” Proc. of the 12th Int. Conf. on Advanced Robotics, pp. 202-207, 2005.
-  Y. Takeda, X. Xiao, K. Hirose, Y. Yoshida, and K. Ichiryu, “Kinematic analysis and design of 3-RPSR parallel mechanism with triple revolute joints on the base,” Int. J. of Automation Technology, Vol.4, No.4, pp. 346-354, 2010.
-  T. Masuda, M. Fujiwara, and T. Arai, “Specific kinematic changes in a linear-actuated parallel mechanism according to differences in actuator arrangement,” Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 510-515, 2000.
-  T. Kosaki and M. Sano, “An Observer-Based Friction Compensation Technique for Positioning Control of a Pneumatic Servo System,” J. of System Design and Dynamics, Vol.3, No.1, pp. 37-46, 2009.
-  T. Kosaki and M. Sano, “Design of a Pressure Observer and Its Application to a Low-Cost Pneumatic Control System,” Int. J. of Automation Technology, Vol.5, No.4, pp. 493-501, 2011.
-  M. Takaiwa and T. Noritsugu, “Development of Pneumatic Human Interface and its Application to Compliance Display,” J. of Robotics and Mechatronics, Vol.13, No.5, pp. 472-478, 2001.