作業領域と運動伝達性に優れた3自由度球面パラレルメカニズムの開発 : 第1報,運動伝達性の評価と作業領域の解析

概要

論文の詳細を見る
For a spherical in-parallel actuated mechanism with three degrees of freedom in which the output link is connected to the base link by three connecting-chains composed of an input link, a coupler link and three revolute pairs each and moments are transmitted only in a specific direction from each coupler link to the output link, transmission index (TI) is proposed based on the power transmitted from input links to the output link. Static force analyses with consideration of elasticity of links have been carried out in the case where forces and moments are exerted on the output link as external loads, and a new mechanism design method of a spherical in-parallel actuated mechanism using transmission index which can be calculated only from geometrical conditions of the mechanism is derived. A spherical in-parallel actuated mechanism with three degrees of freedom with large working space, in which motion transmissibility is excellent and interferences among links do not occur, is proposed.
社団法人日本機械学会の論文
1994-11-25