1504 リニアシャフトモータを用いた冗長駆動パラレルメカニズムに関する研究(GS-15 移動ロボット(1),研究発表講演)

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This paper deals with a study for redundant actuated parallel mechanism. Adding tow degrees of freedom(DOF) to a Stewart Platform which is major 6-DOF Parallel Mechanism, we propose a 8-DOF Redundant Parallel Link Robot with Linear Shaft Motor. Redundant actuation enables parallel mechanism to improve rigidity and motion ability. To design a experimental device, we investigate configuration by numerical simulations. We evaluate a relation between workspace and Transmission Index(TI). According to these evaluation, we determine configuration of a 8-DOF Redundant Parallel Link Robot. In this redundant mechanism, there exists controllable parameter ξ. We evaluate the advantage of optimizing parameter ξ by using LMI(Linear Matrix Inequality) optimization
2005-03-18