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[Research Interests] ¡Þ Design and control of parallel-kinematic manipulators ¡Þ Kinematic and dynamic analyses using the screw theory ¡Þ Mechanism design and prototype development ¡Þ Position/force control using a compliant device ¡Þ Haptic devices and Tele-operation ¡Þ Robot calibration and MEMS devices
[Development of Parallel-kinematic Robots and Others]
(1) 6-DOF parallel manipulator with very high precision ¡Þ The well-known Gough-Stewart platform structure is employed. ¡Þ Commercial ballscrew-type linear actuators (THK linear actuator: KR33-06A+400L-P0) are used instead of non-commercial telescopic ones. ¡Þ Precise ball-socket joints (Hephaist¡¯s spherical rolling joints) are used. ¡Þ High Repeatability: ¡¾10um ¡Þ 6-axis PC-based controller is developed.
¡Þ Kinematic Dimensions: ¡Þ Video Clips: Basic Motion1, Repeatability Test1
(2) 6-DOF motion simulator for one person ¡Þ 6-PSU (Prismatic-Spherical-Universal) parallel-kinematic manipulator is employed. ¡Þ General motion generation and low-frequency vibrator (3 translational and 3 rotational directions). ¡Þ Easy fabrication, large force generation along the x- and y- axes.
¡Þ Specifications:
¡Þ PC-based Controller:
¡Þ Video Clips:
(3) 3-DOF haptic device ¡Þ High stiffness and high force reflection due to parallel-kinematic structure. ¡Þ Very large workspace (larger than 180 degrees) due to special joint arrangements.
¡Þ Video Clips: To be prepared...
(4) 6-axis compliance device with F/T measurement capability ¡Þ The well-known Gough-Stewart platform structure is used. ¡Þ Each cylindrical leg has a spring and a linear encoder (Renishaw RGH24D, 5 um). ¡Þ Precise measurement of 3 forces and 3 torques is possible with 10 mN resolution. ¡Þ Provide enough compliance between rigid robot and rigid environment. ¡Þ This compliance device is used for the position/force control.
¡Þ Video Clips:
(5) Two kinds of novel 2-DOF planar parallel manipulators with translational motion ¡Þ 2-PaP (Parallelogram-Prismatic) and 2-PPa (Prismatic-Parallelogram) parallel manipulators are enumerated. ¡Þ 2-PaP parallel manipulator is driven by two rotary actuators, whereas 2-PPa parallel manipulator is driven by two linear actuators.
¡Þ Video Clips: To be prepared...
(6) 4-leg walking robot ¡Þ Each leg is made up of the six links and parallelogram and is driven by single motor. ¡Þ Foots are moved with very large ¡°Delta¡± shape path compared to the size of legs. ¡Þ Simple control due to static walking
¡Þ Video Clips:
(7) Cartesian Parallel Manipulator (CPM) ¡Þ The CPM has 3-DOF and behaves like a traditional Cartesian machine. ¡Þ The moving platform is connected to the fixed base by 3-PRRR legs. ¡Þ Due to the orthogonal arrangement of three linear actuators, kinematics and control are very simple.
¡Þ Video Clips: Basic Motion1, Calibration1, Plotter Demo1
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