マニピュレータに使用される受動的柔軟リストのための3自由度パラレルメカニズムの運動学解析と機構設計

概要

論文の詳細を見る
A compliant wrist which combines passive compliance and active sensing is proposed to provide the necessary flexibility for force and contact control. This paper describes a mechanical design and a sensing technique of the compliant wrist. The compliant wrist has a three degrees of freedom parallel mechanism which has consists of two platforms connected by three serial chains. The kinematic equations for use of the wrist are derived, and the simulations are performed to estimate the performance of the proposed compliant wrist. It is shown that using the design method we can construct a compliant wrist which has a desired Cartesian stiffness and a suitable motion space.
一般社団法人日本機械学会の論文
1998-06-25