Paper Info
Title
Hybrid drive parallel arm for heavy material handling
Abstract
A new hybrid cylinder/wire drive parallel arm (simply called “a hybrid arm”) for manipulating heavy materials in construction and ship building works is proposed. Various hybrid arms with different combination of cylinders and wires are compared with the conventional Stewart platform and a multiwire drive mechanism. Their workspaces considering orientation are evaluated. The most suitable hybrid arm for heavy material handling is the mechanism with three cylinders, four wires, and one connecting rod between the cylinders and the end plate. This hybrid arm is modified into a mechanism with a variable length rod for the application of manipulating a precasting concrete board with a size of 3×6×0.2 m3 and a weight of 10 t which is used in automatic building construction systems; a prototype of this arm has been designed and developed
Year
DOI
Venue
1999
10.1109/IROS.1999.812848
Intelligent Robots and Systems, 1999. IROS '99. Proceedings. 1999 IEEE/RSJ International Conference
Keywords
DocType
Volume
civil engineering,industrial manipulators,materials handling,0.2 m,10 tonne,3 m,6 m,stewart platform,automatic building construction systems,construction industry,heavy material handling,hybrid arm,hybrid cylinder/wire drive parallel arm,multiwire drive mechanism,precasting concrete board manipulation,ship building,shipbuilding,variable length rod
Conference
2
Issue
ISBN
Citations 
1
0-7803-5184-3
5
PageRank 
References 
Authors
0.79
4
6
Name
Order
Citations
PageRank
kei yuasa150.79
Tatsuo Arai2728177.57
Yasushi Mae332177.50
kunio miyawaki450.79
Kunio Miyawaki592.43
Noriho Koyachi645049.92