Development of 2-DOF tilting actuator with remote center of rotation for human operated non-contact handling tool

West, Ewoud van; Yamamoto, Akio; Higuchi, Toshiro

doi:10.1016/j.mechatronics.2011.08.001

Cited by 2 publications

(2 citation statements)

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“…For horizontal accelerations (i.e., a r = 0), if we assume maximum levitation force of 2.7 N and the levitating mass of 61 g, which are the experimental values for this paper, the maximum acceleration is estimated from the above equations as 43 m/s 2 with the maximum tilt angle of 77 degrees. In the previous studies using a similar setup, on the other hand, the demonstrated acceleration was only upto 1.7 m/s 2 , with the maximum tilt angle of 10 degrees (13) .…”

Section: Feedforward Tilt Controlmentioning

confidence: 81%

“…The human-operated non-contact handling system described in Ref. (13) demonstrated that the feedforward tilt control can be used in a haptically-assisted non-contact handling system, if the haptic assistance is provided based on admittance haptic control. Unlike the feedback tilt control, where feedback delay always exists, the feedfoward tilt control can realize better synchronization between the horizontal acceleration and the tilt angle.…”

Section: Journal Of System Design and Dynamicsmentioning

confidence: 99%

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High Speed Non-Contact Handling of a Steel Disk Using Feedforward Tilt Control

Kuruma

Yamamoto

Higuchi

2013

JSDD

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This paper discusses high speed and non-contact transportation of a steel disk using magnetic levitation and feedforward tilt control. In magnetic levitation systems for handling a thin plate, horizontal slip due to weak horizontal restoring force limits the transportation performance. Tilt control can improve the performance as it can prevent the horizontal slip by compensating inertial force. Previous studies demonstrated the effectiveness of the technique, but their experiments were performed only in a low speed region. This paper applies the tilt control to high-speed transportation in a short distance. In high-speed and short-distance transportation of a disk, angular velocity and acceleration dominate the transportation performance. The paper discusses these factors and proposes a path planning algorithm. Using the algorithm, the paper demonstrates disk transportation for 197 mm within 0.44 seconds. The maximum horizontal acceleration reached 7.9 m/s 2 with the maximum tilt angle of 39• . The paper also discusses the effect of vertical acceleration on the tilt control performance.

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Section: Feedforward Tilt Controlmentioning

confidence: 81%

Section: Journal Of System Design and Dynamicsmentioning

confidence: 99%

High Speed Non-Contact Handling of a Steel Disk Using Feedforward Tilt Control

Kuruma

Yamamoto

Higuchi

2013

JSDD

Self Cite

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Planar parallel manipulators: A review on kinematic, dynamic, and control aspects

Choudhury

Singh

2023

Proceedings of the Institution of Mechanical Engineers, Part E:

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The present paper is about a detailed review of planar parallel manipulators. Planar parallel manipulators have three degrees of freedom, one linear motion along the X-direction, one linear motion along the Y-direction, and one rotation about the Z-axis (θ-motion). Planar parallel manipulators have gained huge popularity because of their larger payload capability, higher stiffness, and agility when compared to serial manipulators. Therefore, the application of planar parallel manipulators is exponentially increasing in various fields like manufacturing, medical, automobile, security surveillance, etc. This paper presents the history of the development of planar parallel manipulators till date and the numerous successful applications of planar parallel manipulators in different fields such as industries, academic institution, medical, etc. The theory of the development of the planar parallel manipulators are based on the major categories such as novel design, optimized design, redundant designs, kinematic and dynamic modeling aspects of the planar parallel manipulators, and control schemes used for the control of the planar parallel manipulators. The kinematic and dynamic performance analyses of the planar parallel manipulators used for different applications are discussed and presented here. The singularity analysis of the planar parallel manipulators, which are the very important aspect to define the working area of the manipulators, is discussed and presented here. Moreover, the present paper elaborated in details about the control schemes proposed, developed, and implemented by past researchers to control the planar parallel manipulators for the different application and presented its effectiveness, which can help the future control problems coming across the planar parallel manipulators. Furthermore, the present paper addresses the increasing demand for planar parallel manipulators in various fields and their in-depth research and extended applications, including intelligent control, smart actuators implementation, and reconfigurable and integrated design and development.

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Development of 2-DOF tilting actuator with remote center of rotation for human operated non-contact handling tool

Cited by 2 publications

References 33 publications

High Speed Non-Contact Handling of a Steel Disk Using Feedforward Tilt Control

High Speed Non-Contact Handling of a Steel Disk Using Feedforward Tilt Control

Planar parallel manipulators: A review on kinematic, dynamic, and control aspects

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