S. Hatae et S. Toyama, Development of a welfare machine with pneumatic actuator (1st report) - Lifting machine using parallel mechanism, INT J JPN P, 33(2), 1999, pp. 122-128
Citations number
7
Categorie Soggetti
Mechanical Engineering
Journal title
INTERNATIONAL JOURNAL OF THE JAPAN SOCIETY FOR PRECISION ENGINEERING
It is estimated that twenty five percent of Japanese population will be eld
erly people over sixty-five in the year 2020. Under the present conditions,
the development of a welfare machine is desired to assist a physically han
dicapped; person and a person of advanced age. Those machines, which are de
veloped at the present, are usually a large system and occasionally difficu
lt to manipulate them. The purpose of this study is to develop a compact, l
ightweight, multi-functions, easy manipulation and human-friendly welfare m
achine. The system consists of a lifting and transferring part. The lifting
part was developed by using two 3-DOF (degree of freedom) parallel robots,
which are driven by pneumatic actuators. In this paper, it was proved by t
hese experimental results (position control, force control, cooperative con
trol) that this system has a good potency in the welfare practical applicat
ion.