異形式のパラレルメカニズムからなる6自由度空間ハイブリッドメカニズム

概要

論文の詳細を見る
This study proposes a new spatial mechanism with six degrees of freedom, the work space of which can be analyzed easily and is larger than those of previous mechanisms such as the Stewart platform that is a representative parallel mechanism with six degrees of freedom. The proposed mechanism is the hybrid mechanism composed of two kinds of parallel mechanisms which are connected in series. The outline of the area that the output point can sweep becomes columnar. The allowable ranges of the output angles are almost constant over all the work space. The proposed hybrid mechanism was synthesized so that it might have good characteristics on both the work space and the motion transmissibility. Through the evaluation of the proposed mechanism and comparison with the Stewart platform, the advantages of the mechanism are shown.
一般社団法人日本機械学会の論文
1998-11-25