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A hybrid drive parallel arm for heavy material handling

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6 Author(s)
Arai, T. ; Dept. of Syst. & Human Sci., Osaka Univ., Japan ; Yuasa, K. ; Mae, Y. ; Inoue, K.
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This article discusses a hybrid drive parallel arm driven by cables and cylinders in order to design a compact handling arm, thus enlarging its workspace. Our major objective is to develop a dexterous arm capable of controlling six-degree-of-freedom (DOF) motion of heavy materials. The article includes a basic concept of parallel mechanisms with hybrid actuation, comparisons and evaluations of some types of hybrid mechanisms based on its kinematics and statics, and finally introduces a designed prototype arm

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Robotics & Automation Magazine, IEEE  (Volume:9 ,  Issue: 1 )