持換え作業に関する基礎的考察 : 2本腕による回転操作

概要

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This paper discusses the suitable positions of two wholly turnable arms and an efficient procedure of rotations and passes for changing the position of an object. The position has three degrees of freedom. Firstly, this paper deals with the reachable region of the direction of the object face that has two degrees of freedom by means of the two-arm operations under the conditions that the relative angle of arm directions is fixed and that the object is passed N times and rotated N+1 times. The results are that the angle of 90 degrees is suitable as the relative angle of arm directions and that three rotations are sufficient for an arbitrary changing of the direction of the object face. Secondly, this paper shows that three rotations are also sufficient for an arbitrary change of the object position, and it also shows the procedures.
一般社団法人日本機械学会の論文
1990-07-25