3241 パラレルメカニズムを用いた多軸材料試験システム : 力の制御と実験(S39-1 パラレルメカニズムとその応用(1),21世紀地球環境革命の機械工学:人・マイクロナノ・エネルギー・環境)

概要

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This paper reports a novel system of multi-axial materials testing system. The proposed testing machine is driven by a parallel kinematics (PKM) structure. Making use of the PKM serves not only to achieve complete motions along six axis but also to obtain high dynamical performance. We also propose a hybrid position/force control algorithm for a Stewart-Gaugh PKM. The proposed algorithm is applied to an experimental system and the results illustrate the validity of the system. The system can be applied to testing on advanced composite materials and components that are difficult to evaluate using conventional testing machines.
社団法人日本機械学会の論文
2008-08-02