精密はめ合い作業の作業達成条件に基づくマニピュレータの運動学的機構設計 : 与えられた作業領域に対する最適リンク長の設計

概要

論文の詳細を見る
This paper presents a new method to design a manipulator kinematically suitable for performing a planar peg-in-hole task at some given task positions. The manipulator has three revolute joints including a compliant element, and an RCC (Remote Center Compliance) mounted on the end point. First, joint angular errors of the manipulator to be allowable for performing the task at all the task positions are obtained from the successful task conditions. Second, a map which represents the relation between the allowable joint angular errors and link lengths of manipulators in illustrated. The map enables us to evaluate the link lengths suitable for performing the task at all the task positions. Finally, it is shown that the method based on the conditions for the successful task is useful to determine the optimum link lengths for performing the task.
一般社団法人日本機械学会の論文
1998-10-25