F-0426 3自由度空間パラレルメカニズムの影響係数解析(S38-2 機構の解析・総合(2))(S38 機構の開発とシミュレーション)

概要

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The triple arm mechanism is a simple and basic parallel mechanism with three degrees of freedom, which consists of a base link, a coupler link and three two-link-chains having the actuated prismatic joint. In this paper, limit positions of motion of the driving arm are determined by the direct kinematic solution. Sensitivities of inclination angles of three arms with respect to the kinematic constant are calculated in each domain of motion. The triple arm mechanism such that the orientation of the spherical joint socket is adjustable is designed and position errors of the coupler link are measured. Motion transmissibility of the parallel mechanism is investigated theoretically and experimentally.
一般社団法人日本機械学会の論文
2001-08-22