ピンジョイントを用いた回転型パラレルメカニズムのリンク構成の提案と可動領域の調査

概要

論文の詳細を見る
This paper describes that a proposal of link composition for a parallel mechanism with pin joints. The maximum angle of inclination by the general parallel mechanism with ball joints is about 55 degrees because of limitations of angle of those joints. Therefore, a novel parallel mechanism that replaced ball joints by the pin joints with wide movable angle is proposed. Moreover, three kinds of link composition that are an outside type, an inside type and a combination type are proposed. The transmission index is investigated about these three types, therefore it has been understood that the combination type is able to move in the widest area. It was confirmed to be able to move the inclination angle of the end effector to 90 degrees by simulations and experiments, and showed the effectiveness.