It is estimated that twenty five percent of Japanese population will be elderly people over sixty-five in the year 2020.
Under the present conditions, the development of a welfare machine is desired to assist a physically handicapped person and a person of advanced age.
Those machines, which are developed at the present, are usually a large system and occasionally difficult to manipulate them.
The purpose of this study is to develop a compact, lightweight, multi-functions, easy manipulation and human-friendly welfare machine.
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 these experimental results (position control, force control, cooperative control) that this system has a good potency in the welfare practical application.
Mots-clés Pascal : Homme, Manipulation, Handicap physique, Robotique, Mécanisme articulé, Système parallèle, Coopération, Moteur pneumatique, Système 3 degrés liberté, Commande force, Commande position, Conception machine, Modélisation, Cinématique
Mots-clés Pascal anglais : Human, Manipulation, Physical handicap, Robotics, Linkage mechanism, Parallel system, Cooperation, Pneumatic motor, System with three degrees of freedom, Force control, Position control, Machine design, Modeling, Kinematics
Notice produite par :
Inist-CNRS - Institut de l'Information Scientifique et Technique
Cote : 99-0479453
Code Inist : 001D12E06. Création : 22/03/2000.