2706 低自由度ユニットを直列接続した超多自由度ロボットの運動解析

概要

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This paper describes kinematic analysis of hyper redundant robot built by serially connecting with many units with a few DOF. Each unit is a spatial parallel mechanism with 3 DOF and is composed of 2 stages connected with 3 linearactuators, 7 spherical joints and a center rod. Direct kinematic analysis was carried by solving a system of nonlinear equations on posture angles of a stage. The Jacobian matrix is derived from the derivatives of the equations. Two kinds of inverse kinematic analyses were carried out. The one was to obtain the input velocities whose square norm is minimum by using pseudoinverse of Jacobian matrix. The other was to carry out the iterative calculation so as to converge output error while output displacement was evenly distributed into each unit. Several simulation results of direct and inverse kinematics were illustrated.
社団法人日本機械学会の論文
2003-08-05