1A2-G01 低剛性取り付けベースに起因するパラレルリンクロボットの振動問題について : パラレルリンクロボット動力学とベースフレーム反力計算手法の提案(パラレルロボット・メカニズム)

概要

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To make analysis of vibration for a parallel link robot caused by a low rigidity base plate, calculation of reaction force is one of the most important elements. This paper introduces a new calculation method of reaction force and dynamics for a parallel link robot and base frame system. Until now, calculation method for actuator torque from trajectory of end plate using virtual work principle has been well know. But it doesn't calculate reaction force which applied to a base frame. So, We propose a new method for calculation of reaction force using parallel link robot which is Malyland university type. This method is based on Newton-Euler method, principle of virtual work and D'Alembert. Calculated results are verified by an experimented results using three degrees of freedom (DoFs) parallel link robot which consists of base frame, end plate and three connecting legs each consists of one actuated joint and two passive joint. Also, We develop a 3D graphic simulator because it is necessary to visual confirm for motion and reaction of a parallel link robot.
一般社団法人日本機械学会の論文
2007-05-11