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Arai, T.; Yuasa, K.; Mae, Y.; Inoue, K.; Miyawaki, K.; Koyachi, N.
IEEE robotics & automation magazine, 03/2002, Letnik: 9, Številka: 1Journal Article
This article discusses a hybrid drive parallel arm driven by cables and cylinders in order to design a compact handling arm, thus enlarging its workspace. Our major objective is to develop a dexterous arm capable of controlling six-degree-of-freedom (DOF) motion of heavy materials. The article includes a basic concept of parallel mechanisms with hybrid actuation, comparisons and evaluations of some types of hybrid mechanisms based on its kinematics and statics, and finally introduces a designed prototype arm.
