000012480 001__ 12480
000012480 005__ 20160816141448.0
000012480 04107 $$aeng
000012480 046__ $$k2016-05-09
000012480 100__ $$aPietrala, D.S.
000012480 24500 $$aPARALLEL MANIPULATOR WITH PNEUMATIC MUSCLE DRIVE

000012480 24630 $$n22.$$pEngineering Mechanics 2016
000012480 260__ $$bInstitute of Thermomechanics AS CR, v.v.i., Praha
000012480 506__ $$arestricted
000012480 520__ $$2eng$$aA parallel delta manipulator of six degrees of freedom with a pneumatic muscle drive was presented in this paper. A solid manipulator model was explained as well as a prototype of this device was presented. Drive units of the manipulator, which consist of two pneumatic counter-rotating muscles connected via belt spur drive and produced by the author of this paper, were characterized. The author presented a scheme of the control system and explained its elements. A kinematic model of the manipulator that is essential in the steering process, was shown. Some unique features of the device, such as high overload of pneumatic muscles, were outlined in this paper as well. They allow applying the manipulator when operating with items of unknown or irregular shapes. Possible collisions of the effecter with the items transferred will be effectively damped by the drives.

000012480 540__ $$aText je chráněný podle autorského zákona č. 121/2000 Sb.
000012480 653__ $$aparallel manipulator, pneumatic muscle, kinematics of industrial robots.

000012480 7112_ $$aEngineering Mechanics 2016$$cSvratka, CZ$$d2016-05-09 / 2016-05-12$$gEM2016
000012480 720__ $$aPietrala, D.S.
000012480 8560_ $$ffischerc@itam.cas.cz
000012480 8564_ $$s255146$$uhttps://invenio.itam.cas.cz/record/12480/files/110bo_p_mct.pdf$$yOriginal version of the author's contribution as presented on CD, id 110, section MCT.
000012480 962__ $$r12369
000012480 980__ $$aPAPER