マニピュレータ用手首関節機構の機構設計

概要

論文の詳細を見る
Motion transform mechanisms are designed for driving the wrist joint of a manipulator whose power sources(motors)are installed on the base in order to reduce masses and moments of inertia of arms. The wrist joint is composed of a spherical five-link mechanism of 2 DOF(degrees of freedom)and two linear-rotational motion transforms of Stephenson six-link mechanisms. Rotational motions of motors are transformed to linear motions by means of ball screw mechanisms, and then these motions become inputs of linear-rotational motion transformers which are driving the spherical five-link mechanism. Kinematic constants of the linear-rotational motion transformer are determined by means of a random search of the Stephenson six-link mechanism of its structural errors and forces acting on pairing elements. It is shown experimentally that the linear-rotational motion transformer is useful for the mechanism to drive the wrist joint.
一般社団法人日本機械学会の論文
2000-06-25