Motion Control of Underactuated Wire-driven Mechanism-Kinetostatics Analysis of Planar Marionette

摘要：

　　This paper describes kinetostatics analyses of planar marionettes as underactuated wire–driven mechanisms.A configuration of a serial link chain which both ends are hung by wires are solved by minimizing potential energy of the link chain.The configurations of controller to give the specified configuration of the link chain are then obtained based on inverse statics calculation of the link chain.These methods are then applied to realize specified configuration of a human type marionette.

关键词： Marionette Wire-driven mechanism underactuated mechanism kinetostatics analysis

作者: Nobuyuki Iwatsuki Naoki Itabashi

作者单位: Graduate School of Science and Engineering, Tokyo Institute of Technology, Tokyo, Japan Graduate Student, Graduate School of Science and Engineering, Tokyo Institute of Technology, Tokyo,

会议类型: 国际会议

会议名称: 第16届机电一体化技术国际会议

会议地点: 天津

会议语种:英文

页码: 443-448

在线出版日期: 2012-10-16（万方平台首次上网日期，不代表论文的发表时间）