マニピュレータの回り込み作業性の評価 : ギヤードリンク機構を用いたマニピュレータの場合

概要

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A robotic manipulator usually operates its end effector on a front face of the object. However, sometimes the end effector of the manipulator has to go round behind obstacles to carry out painting, assembling or welding. Evaluations of the go-round performances are required especially in developing a new manipulator mechanism whose degrees of freedom are limited. This paper proposes two methods for evaluating the reaching ability of the end effecter compared with the room required for moving the manipulator body. The first method is for an orthogonal reach direction to the robot-object line. Another method is for a turn-back reach direction to it. These methods are applied to serial types of geared link mechanisms which have one bending degree of freedom and of which root links are driven not rotationally but parallely. The link lengths and the gear ratios which enable optimum performance are investigated.
一般社団法人日本機械学会の論文
1996-05-25