2815 射出成形3PRR連節からなる3自由度平面パラレルマニピュレータの出力節の振動特性(S59 機構の開発とシミュレーション)

概要

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A new surface mount system with arrangement of miniature manipulator was proposed for use in system down sizing. The new surface mount system consists of a molded pantograph and 3DOF planar parallel manipulator with 3PRR link chain. In this research, we investigated the vibration characteristics of the planar parallel manipulator. This manipulator mechanism consists of large-deflective hinges and links made by the injection molding machine. Its material is Polypropylene (PP). First, we measured the maximum amplitude and frequencies of the output link of the manipulators by impact test. Next, we made the manipulator with 3 linear input motion part with a rotary DC motor and lack-and-pinion. Moreover, we made clear the vibration characteristics of the manipulator by experiments comparing with the above impact test results.
社団法人日本機械学会の論文
2005-09-18