非従来型位相構造を有するロボット機構の生成 : 非従来型位相構造の列挙と機構生成支援

概要

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This paper discusses the classification and enumeration of topological structures of robotic mechanisms, aiming to develop the high performance robotic mechanisms with unconventional topological structures. Fist, features of topological structures of conventional robotic mechanisms are considered. From the consideration, it is pointed out that almost all of the topological structures can be constructed by using only one simple basic unit and two simple connection rules. Then, the efficient way to enumerate the topological structures which cannot be constructed from the basic unit and the connection rules, or unconventional topological structures, is shown. After that, the sequence to construct robotic mechanisms from the enumerated unconventional topological structures is discussed. In the discussion, some effective tools, which support designers to construct variety of mechanisms from the same topological structure are introduced. Finally, two examples of the sequences to generate robotic mechanisms with unconventional topological structures, 3DOF planar mechanism and 6DOF spatial mechanism, are shown.
社団法人日本ロボット学会の論文
2007-09-15