Heavy tools manipulation by low powered direct-drive five-bar parallel robot Nahavandi, Saeid, Uddin, Mohammad Jashim, Saadat, Mozafar and Trinh, Hieu 2008, Heavy tools manipulation by low powered direct-drive five-bar parallel robot, Mechanism and machine theory, vol. 43, no. 11, pp. 1450-1461, doi: 10.1016/j.mechmachtheory.2007.11.004. Attached Files Name Description MIMEType Size Downloads Title Heavy tools manipulation by low powered direct-drive five-bar parallel robot Author(s) Nahavandi, Saeid Uddin, Mohammad Jashim Saadat, Mozafar Trinh, Hieu orcid.org/0000-0003-3438-9969 Journal name Mechanism and machine theory Volume number 43 Issue number 11 Start page 1450 End page 1461 Total pages 12 Publisher Elsevier Place of publication Amsterdam, The Netherlands Publication date 2008-11 ISSN 0094-114X 1873-3999 Keyword(s) direct-drive (DD) motor heavy object manipulation Cartesian base position control torque limits suspended tool system (STS) spring balancer (SB) Summary This paper presents a simple and available system for manipulation of heavy tools by low powered manipulator for industrial applications. In the heavy manufacturing industries, sometimes, heavy tools are employed for different types of work. But the application of robots with heavy tools is not possible due to the limited torque limits of actuators. Suspended tool systems (STS) have been proposed to manipulate heavy tools by low powered robot-arm for this purpose. A low powered five-bar direct-drive parallel manipulator is designed and constructed to manipulate heavy tools suspended from a spring balancer. The validity, usefulness, and effectiveness of the suspended tool system are shown by experimental results. Language eng DOI 10.1016/j.mechmachtheory.2007.11.004 Field of Research 099999 Engineering not elsewhere classified Socio Economic Objective 970109 Expanding Knowledge in Engineering HERDC Research category C1 Refereed article in a scholarly journal Copyright notice ©2007, Elsevier Persistent URL http://hdl.handle.net/10536/DRO/DU:30017717 Document type: Journal Article Collection: School of Engineering and Information Technology Related Links Link Description Connect to published version (restricted access) Go to link with your DU access privileges     Unless expressly stated otherwise, the copyright for items in DRO is owned by the author, with all rights reserved. Versions Version Filter Type Fri, 14 Aug 2009, 13:56:24 EST Mon, 21 Dec 2009, 14:25:09 EST Mon, 21 Dec 2009, 14:26:31 EST Mon, 06 Sep 2010, 16:53:37 EST Mon, 14 Nov 2011, 08:51:12 EST Tue, 01 Jul 2014, 12:34:20 EST Wed, 02 Jul 2014, 09:20:50 EST Wed, 02 Jul 2014, 09:22:06 EST Mon, 21 Jul 2014, 09:20:17 EST Tue, 17 Nov 2015, 14:15:09 EST Filtered Full Citation counts:   Cited 4 times in TR Web of Science Cited 8 times in Scopus Search Google Scholar Access Statistics: 858 Abstract Views, 2 File Downloads  -  Detailed Statistics Created: Fri, 14 Aug 2009, 13:56:24 EST

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