In this paper, we present the design of a cable-driven servomanipulator with motion-decoupled joints. The cable transmission connecting the actuators to the joints remotely, causes a motion coupling problem where the length or tension of the cable is changed due to an unwanted motion interference at joints. To maintain the cable length constant regardless of the rotation of the arm, we used three different schemes such as a motion-decoupled structure for a shoulder joint, a novel motion decoupling mechanism for an elbow joint, and an optimization of the geometric parameters for a wrist joint. Experimental results show that the overall cable length variation at the cable-driven joints is less than 0.01 mm. Therefore, we expect that the suggested decoupling methods could assure a more accurate motion control for a cable-driven servomanipulator.
We propose control techniques to extend the fabrication area that is the limit of traditional laser fabrication systems. The current world trend of PCB core technology development is focused on next generation semi-conductor package board and special high value-added PCB including a buildup board. Laser fabrication is necessary when the process microscopic line width and the line over the scanner area and it should be synchronized scanner-stage. This cannot be done with the current Step & Scanning method. To solve this problem synchronization of the stage and scanner was facilitated to continuously process a wide-area. The processing speed and laser fabrication quality were also improved.
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