Heavy tools manipulation by low powered direct-drive five-bar parallel robot

S. Nahavandi; M. Jashim Uddin; H. Trinh; Mozafar Saadat

doi:10.1016/j.mechmachtheory.2007.11.004

Heavy tools manipulation by low powered direct-drive five-bar parallel robot

S. Nahavandi, M. Jashim Uddin, H. Trinh, Mozafar Saadat

Mechanical Engineering

Research output: Contribution to journal › Article › peer-review

9 Citations (Scopus)

Abstract

This paper presents a simple and available system for manipulation of heavy tools by low powered manipulator for industrial applications. In the heavy manufacturing industries, sometimes, heavy tools are employed for different types of work. But the application of robots with heavy tools is not possible due to the limited torque limits of actuators. Suspended tool systems (STS) have been proposed to manipulate heavy tools by low powered robot-arm for this purpose. A low powered five-bar direct-drive parallel manipulator is designed and constructed to manipulate heavy tools suspended from a spring balancer. The validity, usefulness, and effectiveness of the suspended tool system are shown by experimental results. © 2007 Elsevier Ltd. All rights reserved.

Original language	English
Pages (from-to)	1450-1461
Number of pages	12
Journal	Mechanism and Machine Theory
Volume	43
Issue number	11
DOIs	https://doi.org/10.1016/j.mechmachtheory.2007.11.004
Publication status	Published - 1 Nov 2008

Bibliographical note

Keywords

torque limits
spring balancer (SB)
Cartesian base position control
suspended tool system (STS)
heavy object manipulation
direct-drive (DD) motor

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10.1016/j.mechmachtheory.2007.11.004

Cite this

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title = "Heavy tools manipulation by low powered direct-drive five-bar parallel robot",

abstract = "This paper presents a simple and available system for manipulation of heavy tools by low powered manipulator for industrial applications. In the heavy manufacturing industries, sometimes, heavy tools are employed for different types of work. But the application of robots with heavy tools is not possible due to the limited torque limits of actuators. Suspended tool systems (STS) have been proposed to manipulate heavy tools by low powered robot-arm for this purpose. A low powered five-bar direct-drive parallel manipulator is designed and constructed to manipulate heavy tools suspended from a spring balancer. The validity, usefulness, and effectiveness of the suspended tool system are shown by experimental results. {\textcopyright} 2007 Elsevier Ltd. All rights reserved.",

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AU - Saadat, Mozafar

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KW - Cartesian base position control

KW - suspended tool system (STS)

KW - heavy object manipulation

KW - direct-drive (DD) motor

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Heavy tools manipulation by low powered direct-drive five-bar parallel robot

Abstract

Bibliographical note

Keywords

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