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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.


Title Heavy tools manipulation by low powered direct-drive five-bar parallel robot
Author(s) Nahavandi, Saeid
Uddin, Mohammad Jashim
Saadat, Mozafar
Trinh, Hieu
Journal name Mechanism and machine theory
Volume number 43
Issue number 11
Start page 1450
End page 1461
Publisher Pergamon
Place of publication Oxford, England
Publication date 2008-11
ISSN 0094-114X
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
Field of Research 099999 Engineering not elsewhere classified
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
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