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Heavy tools manipulation by low powered direct-drive five-bar parallel robot

This paper proposes and validates a novel Suspended Tool System (STS) for manipulating heavy tools. Comprising a low-powered direct-drive parallel linkage, the STS provides many advantages over direct payload systems including reduced joint friction. The effectiveness of the STS was demonstrated in applications where the tool moved vertically, e.g. drilling/boring by compensating gravitational force effects. Other applications include implementations as jigs and fixtures, where accurate manipulation of large components is required, as in aerospace assembly. This research was in collaboration with Deakin University, Australia, and was partly supported by the Royal Academy of Engineering (Industrial Secondment Award – 10465/161).