パラレルメカニズムの手先分解能指標を用いた設計手法(機械力学,計測,自動制御)

概要

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In the design of the manipulator to do minute work, the size of the minion's movement is important as a design specification. In this paper, first, the index of the end effector's resolution of the manipulator is proposed. Resolutions of the actuators are associated with the end effector's resolution by this index. The performance function based on the design specification in consideration of that index of the end effector's resolution and the motion area of the manipulator is made. Next, the algorithm that searches for the link parameters to improve the performance function within the given range of the link parameters is developed by using Genetic Algorithm or Powell method. The example of improving the 6-DOF Micro Motion Parallel Mechanism and the example of the link parameter design of another specification are shown, and the effectiveness of the proposed method is confirmed.
社団法人日本機械学会の論文
2009-02-25