Control of the Parallel Link Mechanism by Using Hydraulic Spool-in-Cylinder

Ato Kitagawa; ChunNan Wu; Atsushi Kakino; Canghai Liu; Tuohuti Aierken

doi:10.11499/sicep.2002.0.378.0

SICE Annual Conference 2002

DOI https://doi.org/10.11499/sicep.2002.0.378.0

会議情報

主催: The Society of Instrument and Control Engineers

共催: IEEE/Industiral Electronic Society, IEEE/Robotics and Automation Society, IEEE/Control System Society

Control of the Parallel Link Mechanism by Using Hydraulic Spool-in-Cylinder

Ato Kitagawa, ChunNan Wu, Atsushi Kakino, Canghai Liu, Tuohuti Aierken

著者情報

キーワード: Hydraulic cylinder, Prallel link mechanism, Actuator, Control

会議録・要旨集フリー

p. 378

詳細

抄録

This paper presents the basic structure of the hydraulic Spool-in-Cylinder and its application on the 3 D.O.F rotational parallel link mechanism. Hydraulic Spool-in-Cylinder is an actuator, which is consisted of a hydraulic cylinder, a spool, a mechanical feedback mechanism and a stepping motor. The 3 D.O.F rotational parallel link mechanism is consisted of three Spool-in-Cylinder. We can simply realize the control of the high output hydraulic Spool-in-Cylinder by adjusting the input of stepping motor. The experiments display that the locomotion of the 3 D.O.F rotational parallel link mechanism can mimic the human wrist locomotion.

責任著者(Corresponding author)

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