2003•Unpublished venueRequires access

Control of the parallel link mechanism by using hydraulic spool-in-cylinder

A. Kitagawa, Chun-Nan Wu, A. Kakino, Canghai LIU, Talatibieke Aierken

Abstract

This paper presents the basic structure of the hydraulic spool-in-cylinder and its application on the 3-DOF rotational parallel link mechanism. The hydraulic spool-in-cylinder is an actuator which consists of a hydraulic cylinder, spool. mechanical feedback mechanism and stepping motor. The 3-DOF rotational parallel link mechanism consists of three spool-in-cylinders. We can simply realize the control of the high output hydraulic spool-in-cylinder by adjusting the input of the stepping-motor. The experiments show that the locomotion of the 3-DOF rotational parallel link mechanism can mimic the human wrist locomotion.

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Available abstract

Key concepts: Hydraulic cylinder, Mechanism (biology), Position-sensing hydraulic cylinder, Hydraulic motor, Cylinder, Control theory (sociology), Telescopic cylinder, Actuator