油圧シリンダを用いた6自由度パラレルリンク機構の運動特性 : 第一報サーボ系の周波数特性解析

概要

論文の詳細を見る
A parallel link mechanism with six degrees of freedom using six electrohydraulic servo cylinders has large rigidity and support power. This feature is widely used for a driving device with multi degrees of freedom that has a heavy load and needs a large driving force. However, the research concerning the dynamic characteristics of this mechanism is scarce. This research aims at the systematic experimental and the theoretical analysis of the basic characteristics. A detailed mathematical model was made, and a transfer function was obtained by linear approximation. The desired signal that drives one servo cylinder is a sinusoidal wave, and the signals that drive the other five cylinders are constant value, respectively. The frequency response was measured. The calculation results coincide well with the experimentalresults.
社団法人　日本フルードパワーシステム学会の論文
2006-01-15