運動空間の異なるループを持つ機構の運動解析と運動方程式の導出 : 第2報, 解析例とループ切断対偶の選択についての考察

概要

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In order to prove the effectivity of the computational scheme described in part 1, the six DOF articulated robot mechanism with a planar loop for driving the arm and the mechanism with two loops having different motion spaces which is equivalent to the Sarrus mechanism are analyzed in this paper. It is shown by these analysis examples, the derermination of joints for loop cut and that of a basis of wrench space for each loop cut joint are essential for the analysis. It is derived that the loop cut joint shall be one of joints which belongs one loop only, or, if such a joint does no exist in the loop, one of joints in the loop which belongs smallest number of loops. The basis of a wrench space of the loop must be determined such that it is composed of the elements of a basis of the reciprocal space of the motion space of the loop and those of a basis of complement space of the reciprocal space.
一般社団法人日本機械学会の論文
2000-09-25