動力学特性図によるロボット用平行クランク形機構の評価

概要

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This paper presents a method of dynamic characteristic evaluation of robotic parallel crank mechanisms using dynamic characteristic charts. Dynamic characteristic charts reveal relations between configurations of robotic parallel crank mechanisms and torque given to driving shafts with motion of work point. Namely, changes of driving torque with acceleration and velocity of work point of robots are plotted in dimensionless reachable regions of the work points. These charts reveal not only detailed change of driving torque but also its outline over the whole working space of robots. Furthermore, the change of driving torque of each driving shaft can be evaluated individually. Making use of those charts, configurations of parallel crank mechanisms and attitudes of robots on working can be determined directly in view of dynamic characteristics. Namely, it may become easy to develop robots having superior dynamic characteristics.
一般社団法人日本機械学会の論文
1994-01-25