2A1-A12 ゾウの鼻を模したパラレルメカニズム連結型超冗長マニピュレータの形状把握

概要

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In a nuclear reactor and a chemical plant, since it is very complicated environment with apparatus, it cannot fully function by the manipulator of 6 degree of freedom (DOF). But, trunk can wrap and catch in the thing of any form at the intricate place. The manipulator that has such a function having far more DOF is called a hyper-redundant manipulator. We made the hyper-redundant manipulator constituted of several 3-RRS parallel link mechanisms. This manipulator can be used in the intricate environments described above. It is necessary to understand the whole shape to control this manipulator. In order to grasp the whole shape of this manipulator, the degree of rotation angle of a servo motor and the angle between arm and rod are required. In this report, we did the design improvement to measure the above-mentioned two angles, led the forward kinematics, and grasped the shape of this manipulator.
一般社団法人日本機械学会の論文