Kinematics Analysis of the Parallel Mechanism with Vertically Fixed Linear Actuators
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概要
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A 6 degrees of freedom parallel mechanism actuated by vertically fixed linear actuators was developed for heavy material handling and machining. The mechanism allows easy trajectory generation, since the vertical arrangement of the linear actuators simplifies the calculation of its inverse kinematics. This paper presents inverse kinematics and Jacobian matrix solutions. Way to avoid component interference, which is divided into three types, is proposed. The combination of design parameters is decided by comparing the characteristics of area of movement, resolution and velocity. The working space is then shown. The singularity is analyzed by evaluating determinants of the Jacobian matrix. Lengthening the connecting rods and limiting the range of the end effector rotational angles are effective in avoiding the singular configurations as well as interference. Finally, the developed prototype mechanism is introduced, and its application to tool positioning and machining is described.
- 一般社団法人日本機械学会の論文
- 2001-09-15
著者
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Arai Tatsuo
Osaka University
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MASUDA Takanori
Metals Laboratory of the Mie Prefectural Industrial Research Institute
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FUJIWARA Motoyoshi
Mie Prefectural Industrial Research Institute
関連論文
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