IN-PARALLEL PASSIVE COMPLIANT COUPLER FOR ROBOT FORCE CONTROL

Proceedings of the ASME Design Engineering Technical Conference

Volumn 7A, Issue , 2000, Pages 587-593

  Dwarakanath, T A ^a   Crane, Carl D ^a   Duffy, Joseph ^a   Tyler, Chad ^a  

^a J Crayton Pruitt Family Department of Biomedical Engineering   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

COMPLIANT MECHANISMS; FORCE CONTROL; MACHINE DESIGN; SHAPE OPTIMIZATION;

IMPORTANT FEATURES; MECHANISM DESIGN; NOVEL DESIGN; OPTIMAL SYNTHESIS; PARALLEL COMPLIANT MECHANISMS; PARALLEL MECHANISMS; QUALITY INDICES; ROBOT FORCE CONTROL; SHAPE-OPTIMIZATION;

SIGNAL TO NOISE RATIO;

EID: 84858377367     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1115/DETC2000/MECH-14114     Document Type: Conference Paper

References (13)

1. Bhaumick T K, Dwarakanath, T. A, Venkatesh, D„ 1997, "Instrumentation of Stewart platform based force-torque sensor, " Proc. of symposium on Allied Nuclear Advances in Instrumentation, Bhabha Atomic Research Center, Mumbai, India, pp. 309-315.
2. Dasgupta B., Reddy S, Mruthyunjaya T S., 1994, "Synthesis of a force-torque sensor based on the Stewart platform mechanism, " Proc. National Convention of Industrial problems in Machines and Mechanisms (IPROMM'94), Bangalore, India, pp. 14-23.
3. Griffis, M. and Duffy, J., 1991, "Kinestatic Control: A Novel Theory for Simultaneously Regulating Force and Displacement, " Trans. ASME, Journal of Mechanical Design, vol. 113, pp. 508-515.
4. Gaillet, A and Reboulet, C., 1983, "An Isostatic Six Component Force and Torque Sensor, " Proc. 13th Int. Symposium on Industrial Robotics.
5. Hunt, K. H., and McAree, P. R„ 1998, "The octahedral manipulator: geometry and mobility, " International Journal of Robotic Research, Vol. 17, no. 8, pp. 868-885.
6. Kerr, D. R., 1989 "Analysis, Properties and Design of Stewart Platform Transducer, " Trans. ASME Journal Mechanical Transmission Automation and Design. Vol. 111, pp. 25-28.
7. Lee, J., Duffy, J., and Keler, M. 1996, "The optimum quality index for the stability of in-parallel planar platform devices, " Proc. of ASME design engineering technical conferences, published on CDROM, 96-DETC/MECH-l 135, Irvine, California, USA.
8. Lee, J., Duffy, J., and Hunt, K. H, 1998, "A Practical quality index based on the octahedral manipulator, " International Journal of Robotic Research, Vol. 17, no. 10, pp. 1081-1090.
9. Nguyen, C.C., Antrazi, S.S., and Zhou, Z.L., 1991, "Analysis and Implementation of a 6 DOF Stewart Platform-Based Force Sensor for Passive Compliant Robotic Assembly, " Proc. IEEE SOUTHEASTCON, pp. 880-884.
10. Stewart, D„ 1965, "A Platform with Six Degrees of Freedom, " Proc. Inst. Mech. Engrs. Part 1180(15), pp. 371-386.
11. Sugar, T. and Kumar, V., 1998, "Design and Control of a Compliant Parallel Manipulator for a Mobile Platform, " published on CDROM, 98-DETC/MECH-5863, Atlanta, Georgia, USA.
12. Svinin, M.M., and Uchiyama, M., 1995, "Optimal Geometric Structures of Force/Torque Sensors, " International lournal of Robotics Research, vol. 14, no. 6, pp. 560-573.
13. Timoshenko S, Strength of Materials. Part II, 2nd ed. New York: D. Van Nostrand, Inc., 1955.