ロボット用平行クランク形機構の静力学特性

概要

論文の詳細を見る
Kinematic and static characteristics of robotic parallel crank mechanisms have been analyzed and represented in the form of charts which support rational syntheses of the mechanisms as robot arms and legs. Namely, the joint forces and bending moments of links when the mechanisms take arbitrary positions and attitudes have been formulated by the total link lengths L and by introducing four dimensionless factors. Characteristic charts of statics have been made by plotting the lines of the positions of the output point where the values of the joint forces and bending moments of links are respectively constant in dimensionless working spaces. Making use of only several characteristic charts and simple transformation formulas, the joint forces and bending moments of links can be analyzed when the mechanisms take arbitrary positions and attitudes.
一般社団法人日本機械学会の論文
1991-11-25