Journal ArticleDOI
Analysis and control of a force display system driven by parallel wire mechanism
TLDR
It is experimentally demonstrated that the proposed control laws realize higher acceleration and lower reaction force than other force display systems.Abstract:
In this paper, we develop a force display system using parallel wire mechanism for virtual sports training with high speed motion. We firstly point out a control issue of the force display system driven by parallel wire mechanism. Based on the analysis, control laws are proposed to improve performance of the force display system. It is experimentally demonstrated that the proposed control laws realize higher acceleration and lower reaction force than other force display systems. Using the experimental result, the performance of the system is evaluated quantitatively.read more
Citations
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Journal ArticleDOI
Motion control of a tendon-based parallel manipulator using optimal tension distribution
TL;DR: In this paper, the authors present the motion control of a six degree-of-freedom tendon-based parallel manipulator, which moves a platform with high speed using seven cables.
Dissertation
Analysis of the Workspace of Tendon-based Stewart Platforms
TL;DR: In this article, a representation of the controllablwe workspace by means of polynomial inequalities is developed and optimal solutions are provided to the problem of finding appropriate force distributions in the tendons.
Journal ArticleDOI
Stability Analysis of Underconstrained Cable-Driven Parallel Robots
TL;DR: A geometrico-static model is provided, and the stability of static equilibrium is assessed within the framework of a constrained optimization problem, concerning cable-driven parallel robots with less than six cables, in crane configuration.
Proceedings ArticleDOI
A portable, modular parallel wire crane for rescue operations
J-P. Merlet,David Daney +1 more
TL;DR: This design is innovative in terms of flexibility for managing the location of the anchor points of the cables on the ground and on the platform, the possibility of partial platform location control through the management of the kinematics with less than 6 cables and the availability of on-board sensors.
Proceedings ArticleDOI
Kinematics of the wire-driven parallel robot MARIONET using linear actuators
TL;DR: It is presented here a robot using linear actuator and a pulley system allowing a higher modularity of the actuation system, and the kinematics of this redundant system, taking into account the elasticity ofThe wires, are presented.
References
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Proceedings ArticleDOI
Development of an ultrahigh speed robot FALCON using wire drive system
TL;DR: This paper describes the development of an ultrahigh speed robot named FALCON (Fast Load Conveyance), based on a wire driven parallel manipulation system that achieves peak accelerations of up to 43G and maximum velocities of 13 m/s, even if considerably small DC motors are used.
Proceedings ArticleDOI
A force-reflecting teleoperated hand system for the study of tactile sensing in precision manipulation
TL;DR: A teleoperated hand system developed to study the role of tactile and fine-force sensing in telemanipulation is described, which has been used to demonstrate that a tactile display can convey frictional information sensed at the slave manipulator.
Proceedings ArticleDOI
Using a manipulator for force display in molecular docking
TL;DR: A real-time molecular docking system is developed that uses an electrically coupled remote manipulator as a force display and might enhance the biochemist's understanding and performance.
Proceedings ArticleDOI
Constructing force-closure grasps in 3D
TL;DR: This paper presents fast and simple algorithms for directly constructing force-closure grasps based on the shape of the grasped object, and proves that non-marginal equilibriumGrasps with at least two soft-finger contacts, or three hard-finger contact with friction are also force- closure graspts.
Proceedings ArticleDOI
A new type of master robot for teleoperation using a radial wire drive system
Sadao Kawamura,Koji Ito +1 more
TL;DR: In this paper, the authors explain how many wires are necessary to control a handle with six degrees of freedom in a three dimensional space and show experimental results in which a handle is moved by seven wires in aThree dimensional space.