運動伝達性に優れた6自由度空間パラレルマニピュレータの開発 : 第3報, アクチュエータ容量に基づく位置決め運動の高速性評価

概要

論文の詳細を見る
This paper proposes a new index for performance evaluation of robotic manipulators from the point of view of high speed positioning. The proposed index is defined by the ratio of the positioning time realized by a manipulator for a set of starting position and desired position under a certain load condition and the minimum positioning time which is determined by the capacity of the actuators equipped with the manipulator. The results of computer simulations and experiments of evalution of the spatial inparallel actuated manipulator with six degrees of freedom developed by the authors have been presented. Comparisons of the proposed index with the transmission index and the adept motion cycly time have been presented. Through these results, effectiveness of the proposed index has been clarified.
一般社団法人日本機械学会の論文
1999-02-25