パラレルメカニズムの機構剛性解析 : 特異点近傍における剛性特性の解析

概要

論文の詳細を見る
Parallel manipulators have many useful characteristics, that is high speed motion as the inertia is light, rigid structure and full 6 degrees of freedom. There are many different type parallel manipulators. Stewart platform is the most typical type which has 6 linear actuators called struts. A new type parallel manipulator named PSSP has been proposed, which is moved with three pentagon type SCARA robots. Parallel manipulators have many singular points in the working space, on the points the stiffness of the structure becomes zero. It is very important to study the location of singular points and characteristics. The standard approach of the study on singular points is to find the zero points of jacobian matrix determinant. In this study a new approach to analyze the singular configuration of parallel mechanism to resolve the eigenvalue and eigenvectors of stiffness matrix. PSSP robot is analyzed by the method.
公益社団法人精密工学会の論文
2000-04-05