多自由度機構の静的パワー出力特性

概要

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I discuss the static properties of multi-DOF (Degrees Of Freedom) mechanisms in respect to‘power dimension’. Especially, in this paper, I describe basic formulas and criteria to analyze and evaluate the static output power properties. The power dimensional analysis is effective for improving fundamental performances of multi-DOF mechanisms. For example, improving output power, improving energy efficiency, reducing weight and so on. At the beginning of this paper, I derive basic formulas necessary for power dimensional analysis. Next, I describe the classification of‘joint power states’according to the‘sign of power’. Then I show the harmful effects of the states; some joints generate positive and others generate negative power simultaneously. I also show the criterion to evaluate the effects. Next, I focus on the relationships between ‘joint power states’ and ‘possible output power’. I derive the range of possible output power under the condition that each joint has limitation of power. And I show the conditions to maximize output power.
社団法人日本ロボット学会の論文
2005-03-15