706 Performance Changes due to Position/Posture of Parallel Link Mechanism with 6 Degrees of Freedom using Hydraulic Cylinders

2008 ◽  
Vol 2008 (0) ◽  
pp. 209-210
Author(s):  
Katsumasa SUZUKI ◽  
Masataka KUSAKABE ◽  
Katsuya ABE
Keyword(s):  
Degrees Of Freedom ◽  
Link Mechanism ◽  
Hydraulic Cylinders ◽  
Parallel Link ◽  
6 Degrees Of Freedom

Development of Hydraulic Drive Drilling Robot with 4-DOF Tool for In-Pipe Repair – Mechanical Design of New Tool –

2012 ◽  
Vol 6 (2) ◽  
pp. 221-227 ◽  
Author(s):  
Hiroaki Seki ◽  
◽  
Hodaka Amakata ◽  
Yoshitsugu Kamiya ◽  
Masatoshi Hikizu
Keyword(s):  
Degrees Of Freedom ◽  
Mechanical Design ◽  
Hydraulic Drive ◽  
Developed Countries ◽  
Hydraulic Power ◽  
Sewer Pipes ◽  
Parallel Links ◽  
Hydraulic Cylinders ◽  
New Type ◽  
Parallel Link

Lately,many developed countries see their sewer pipes getting increasingly aged. They try to extend the life of aging pipes by using teleoperated sewer robots to repair them as buried in the ground rather than replacing them by largescale digging work. Currently available robots, however, have tools with small DOF (Degrees Of Freedom) to do complex work such as drilling, cutting, and grinding. They also have too heavy oilostatic cables to be self-propelling. To cope with these problems, we intend to develop a new type of sewer robots that can be self-propelling by built-in cylinder-type hydraulic power source and are equipped with multiple-DOF tool driven by hydraulic cylinders in parallel links. In this paper, we propose a 4-DOF parallel link type mechanism for the tool that have wide reachable areas and no singular points. The proposed mechanism is so designed as to be able to retain high stiffness in the predetermined reachable areas as required for work inside pipes.

scholarly journals DYNAMIC CHARACTERISTICS OF PARALLEL LINK MECHANISM WITH SIX DEGREES OF FREEDOM USING ELECTRO-HYDRAULIC SERVO CYLINDERS

2008 ◽  
Vol 2008 (7-3) ◽  
pp. 597-602
Author(s):  
Yuuki MIYAMOTO ◽  
Masataka KUSAKABE ◽  
Katsuya ABE ◽  
Kengo TSUCHIYA ◽  
Katsumasa SUZUKI ◽  
...  
Keyword(s):  
Dynamic Characteristics ◽  
Degrees Of Freedom ◽  
Six Degrees Of Freedom ◽  
Link Mechanism ◽  
Hydraulic Servo ◽  
Parallel Link

755 Horizontal attitude control of Parallel Link mechanism with Six Degrees of Freedom

2006 ◽  
Vol 2006 (0) ◽  
pp. 191-192
Author(s):  
Katsumasa SUZUKI ◽  
Takahiro OOE ◽  
Kengo TSUTIYA ◽  
Yuuji SINOHARA
Keyword(s):  
Attitude Control ◽  
Degrees Of Freedom ◽  
Six Degrees Of Freedom ◽  
Link Mechanism ◽  
Parallel Link

4D in in vivo 2-photon laser scanning fluorescence microscopy with sample motion in 6 degrees of freedom

2011 ◽  
Vol 200 (1) ◽  
pp. 47-53 ◽  
Author(s):  
Sabine Scheibe ◽  
Mario M. Dorostkar ◽  
Christian Seebacher ◽  
Rainer Uhl ◽  
Frank Lison ◽  
...  
Keyword(s):  
Fluorescence Microscopy ◽  
Laser Scanning ◽  
Degrees Of Freedom ◽  
Sample Motion ◽  
6 Degrees Of Freedom

Workspace, dexterity and dimensional optimization of microhexapod

2015 ◽  
Vol 35 (4) ◽  
pp. 341-347 ◽  
Author(s):  
E. Rouhani ◽  
M. J. Nategh
Keyword(s):  
Degrees Of Freedom ◽  
Optimization Problem ◽  
Screw Theory ◽  
Design Parameters ◽  
Dimensional Synthesis ◽  
Content Type ◽  
Workspace Analysis ◽  
The Difference ◽  
Flexure Joints ◽  
6 Degrees Of Freedom

Purpose – The purpose of this paper is to study the workspace and dexterity of a microhexapod which is a 6-degrees of freedom (DOF) parallel compliant manipulator, and also to investigate its dimensional synthesis to maximize the workspace and the global dexterity index at the same time. Microassembly is so essential in the current industry for manufacturing complicated structures. Most of the micromanipulators suffer from their restricted workspace because of using flexure joints compared to the conventional ones. In addition, the controllability of micromanipulators inside the whole workspace is very vital. Thus, it is very important to select the design parameters in a way that not only maximize the workspace but also its global dexterity index. Design/methodology/approach – Microassembly is so essential in the current industry for manufacturing complicated structures. Most of the micromanipulators suffer from their restricted workspace because of using flexure joints compared to the conventional ones. In addition, the controllability of micromanipulators inside the whole workspace is very vital. Thus, it is very important to select the design parameters in a way that not only maximize the workspace but also its global dexterity index. Findings – It has been shown that the proposed procedure for the workspace calculation can considerably speed the required calculations. The optimization results show that a converged-diverged configuration of pods and an increase in the difference between the moving and the stationary platforms’ radii cause the global dexterity index to increase and the workspace to decrease. Originality/value – The proposed algorithm for the workspace analysis is very important, especially when it is an objective function of an optimization problem based on the search method. In addition, using screw theory can simply construct the homogeneous Jacobian matrix. The proposed methodology can be used for any other micromanipulator.

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