F-0430 弾性要素を有する閉ループ機構の総合と運動制御(S38-3 機構の解析・総合(3))(S38 機構の開発とシミュレーション)

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This paper describes kinematic synthesis and motion control of closed-loop overactuator mechanisms with elastic elements. It was shown that the interference among actuators could be eliminated by adding elastic elements. Planar closed-loop mechanisms composed of linear actuators, revolute joints, rigid links and linear springs were synthesized by connecting the proposed elastic network modules. A direct kinematics by simultaneously solving both of closed-loop equation and force balance equation was proposed. An inverse kinematics analysis with iterative calculation with pseudo inverse of Jacobian matrix was also proposed. A prototype with 8-inputs and 5-DOF was built and experimentally examined. The proposed method was then confirmed effective and useful..
一般社団法人日本機械学会の論文
2001-08-22