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Authors: Toyomi Fujita 1 and Hiroshi Sugawara 2

Affiliations: 1 Tohoku Institute of Technology, Japan ; 2 Renesas Design Corp., Japan

Keyword(s): Parallel Link Mechanism, Mobile Robot, Handling Task.

Related Ontology Subjects/Areas/Topics: Engineering Applications ; Informatics in Control, Automation and Robotics ; Intelligent Control Systems and Optimization ; Mechatronics Systems ; Mobile Robots and Autonomous Systems ; Robot Design, Development and Control ; Robotics and Automation ; Signal Processing, Sensors, Systems Modeling and Control

Abstract: This paper presents a parallel link arm for a wheeled mobile robot. A parallel mechanism is useful for a mobile robot because it has more advantages on high output power than serial link. Conventional parallel mobile manipulators have not been able to perform handling task such as picking up an object on the floor. Developed parallel link arm in this study has a hand which directs downward. It is mounted on the robot with the link for swinging so that it is able to carry an object with handling in wide area. This paper describes development of the parallel link arm and analyses its kinematics. We also consider basic motions of the arm for object handling tasks. Experimental results demonstrated the usefulness of developed parallel link arm for object handling tasks by a wheeled mobile robot.

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Paper citation in several formats:
Fujita, T. and Sugawara, H. (2014). Development of a Parallel Link Arm for Object Handling by Wheeled Mobile Robot. In Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO; ISBN 978-989-758-040-6; ISSN 2184-2809, SciTePress, pages 592-598. DOI: 10.5220/0005116905920598

@conference{icinco14,
author={Toyomi Fujita. and Hiroshi Sugawara.},
title={Development of a Parallel Link Arm for Object Handling by Wheeled Mobile Robot},
booktitle={Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO},
year={2014},
pages={592-598},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0005116905920598},
isbn={978-989-758-040-6},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO
TI - Development of a Parallel Link Arm for Object Handling by Wheeled Mobile Robot
SN - 978-989-758-040-6
IS - 2184-2809
AU - Fujita, T.
AU - Sugawara, H.
PY - 2014
SP - 592
EP - 598
DO - 10.5220/0005116905920598
PB - SciTePress

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