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JRM Vol.28 No.6 pp. 808-818
doi: 10.20965/jrm.2016.p0808
(2016)

Paper:

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Error Evaluation Method of Approximated Inverse Kinematics for Parallel-Wire Driven System – Basic Study for Three-Wire Planar System –

Hitoshi Kino*, Nobuhiro Okubo*, Toshihide Ikeda**, and Hiroaki Ochi***

*Department of Intelligent Mechanical Engineering, Fukuoka Institute of Technology
3-30-1 Wajirohigashi, Higashi-ku, Fukuoka-shi, Fukuoka 811-0295, Japan

**Development Department, OREC Co., Ltd.
548-22 Hiyoshi, Hirokawa-machi, Yame-gun, Fukuoka 834-0195, Japan

***Department of Mechanical Engineering, Tokyo University of Science, Yamaguchi
1-1-1 Daigakudori, Sanyo-Onoda, Yamaguchi 756-0884, Japan

Received:
March 4, 2016
Accepted:
August 24, 2016
Published:
December 20, 2016
Creative Commons License
Keywords:
kinematics, error, position, analysis, approximation
Abstract
Parallel-wire driven system, a kind of parallel-link mechanism, employs flexible and light wires in place of rigid links. By applying kinematics to parallel-wire driven systems, we seek to obtain the relationship between the end-effector’s position and wire length. Kinematics usually approximates the wire-contacting point of the winding reel (or guiding pulley) in the actuator unit to be a fixed point. Similar kinematic approximations, however, are likely to cause errors in controlling the end-effector position. In this study, therefore, we attempt to evaluate end-effector positioning errors due to inverse kinematic approximations. As the first step, we analyze end-effector positioning errors in two-degrees-of-freedom planar system and propose two methods to evaluate the positioning errors. Then, we conduct two case studies where we compare the errors due to inverse kinematic approximations and effects of wire’s elastic elements in order to confirm effectiveness of the proposed methods for evaluating end-effector positioning errors.
Two-degrees-of-freedom planar system using three wires

Two-degrees-of-freedom planar system using three wires

Cite this article as:
H. Kino, N. Okubo, T. Ikeda, and H. Ochi, “Error Evaluation Method of Approximated Inverse Kinematics for Parallel-Wire Driven System – Basic Study for Three-Wire Planar System –,” J. Robot. Mechatron., Vol.28 No.6, pp. 808-818, 2016.
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