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Orientation Capability of a 3-RPSR Parallel Mechanism for a Movable-Die Drive Mechanism of Pipe Bender

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Latest Advances in Robot Kinematics

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Abstract

Kinematic analysis of a 3-RPSR parallel mechanism with six DOF, which has been applied to a movable-die drive mechanism of pipe bender, has been done. Orientation capability of this mechanism has been investigated taking into consideration singularity and motion range of spherical joints. A mechanism with a high orientation capability designed based on the analysis is shown.

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References

  1. Takeda, Y., Xiao, X., Higuchi, M., Inada, S., Hirose, K., Yoshida, Y., Ishikura, Y.: Development of a pipe bender using a parallel mechanism with 3-RPSR structure with six degrees of freedom. In: Proceedings of 13th World Congress in Mechanism and Machine Science, pp. 19–25. Guanajuato, Mexico (2011)

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  2. Takeda, Y., Xiao, X., Hirose, K., Yoshida, Y., Ichiryu, K.: Kinematic analysis and design of 3-RPSR parallel mechanism with triple revolute joints on the base. Int. J. Autom. Technol. 4(4), 346–354 (2010)

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Authors and Affiliations

  1. Department of Mechanical Sciences and Engineering, Tokyo Institute of Technology, 2-12-1, O-okayama, Meguro-ku, Tokyo, 152-8552, Japan

    Yukio Takeda, Satoshi Inada & Daisuke Matsuura

  2. Kikuchi Seisakusho Co., Ltd., Monozukiri Mechatro Research Laboratory, 2161-12, Miyama-cho, Hachioji-shi, Tokyo, 192-0152, Japan

    Kazuya Hirose & Ken Ichiryu

Authors
  1. Yukio Takeda
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  2. Satoshi Inada
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  3. Daisuke Matsuura
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  4. Kazuya Hirose
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  5. Ken Ichiryu
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Corresponding author

Correspondence to Yukio Takeda .

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Editors and Affiliations

  1. J. Stefan Institute, Jamova 39, Ljubljana-Vic-Rudnik, 1000, Slovenia

    Jadran Lenarcic

  2. Inst. Technische Mathematik, Geometrie und Bauinformatik, Universität Innsbruck, Technikerstr. 13, Innsbruck, 6020, Austria

    Manfred Husty

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© 2012 Springer Science+Business Media Dordrecht

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Takeda, Y., Inada, S., Matsuura, D., Hirose, K., Ichiryu, K. (2012). Orientation Capability of a 3-RPSR Parallel Mechanism for a Movable-Die Drive Mechanism of Pipe Bender. In: Lenarcic, J., Husty, M. (eds) Latest Advances in Robot Kinematics. Springer, Dordrecht. https://doi.org/10.1007/978-94-007-4620-6_32

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  • DOI: https://doi.org/10.1007/978-94-007-4620-6_32

  • Publisher Name: Springer, Dordrecht

  • Print ISBN: 978-94-007-4619-0

  • Online ISBN: 978-94-007-4620-6

  • eBook Packages: EngineeringEngineering (R0)

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