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Application of suspension mechanisms for low powered robot tasks

Mohammad Jashim Uddin (PhD student, Department of Systems and Information Engineering, Yamagata University, Jonan 4‐3‐16, Yonezawa 992‐8510, Japan. Tel: +81 238 26 3237; Fax: +81 238 26 3205.)
Yasuo Nasu (Professor, Department of Mechanical Systems Engineering, Yamagata University, Jonan 4‐3‐16, Yonezawa 992‐8510, Japan.)
Kazuhisa Mitobe (Associate Professor, Department of Mechanical Systems Engineering, Yamagata University, Jonan 4‐3‐16, Yonezawa 992‐8510, Japan.)
Kou Yamada (Research Associate, Department of Electrical and Information Engineering, Yamagata University, Jonan 4‐3‐16, Yonezawa 992‐8510, Japan.)

Industrial Robot

ISSN: 0143-991x

Article publication date: 1 June 2000

Abstract

Presents the manipulation methods of a low powered direct‐drive robot‐arm for heavy object manipulation using a suspension device. Considers manipulation of a suspended tool in the horizontal plane. Presents the algorithm of the hybrid position/force tracking scheme with respect to the dynamic behavior of suspended tools in the horizontal plane. To manipulate the suspended robot‐arm vertically, the hybrid position/force dynamic model has been developed by considering the gravity compensation of the spring balancer. In order to show the possible industrial applications chamfering operations have been carried out. Simulations and experiments demonstrate the feasibility of the proposed systems.

Keywords

Citation

Jashim Uddin, M., Nasu, Y., Mitobe, K. and Yamada, K. (2000), "Application of suspension mechanisms for low powered robot tasks", Industrial Robot, Vol. 27 No. 3, pp. 206-216. https://doi.org/10.1108/01439910010323978

Publisher

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MCB UP Ltd

Copyright © 2000, MCB UP Limited