パラレルマニピュレータの設計と機構特性

概要

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Parallel manipulator has a unique structure whose six actuators constrain its end eff ector in parallel. A simple symmetrical design of the parallel manipulator leads to an octahedron, where a top triangle and a base triangle are connected by six length-controllable cylinders. Controlling the length of those cylinders, the top plate can be located at any position and orientation with respect to the base. This structure is fairly simple, but it has some practical problems concerning its working volume and the backdrivability of the mechanism. In order to solve those difficulties, our design employs three sets of pantograph link mechanism, each of which is driven by a couple of DC motors instead of linear actuators. It provides us a compact 6 DOF manipulator with high output/weight ratio. This report describes mechanical design, kinematic analysis, static force analysis and some mechanical charactoristics. In addition it discusses the singular pointsof the parallel manipulator.
一般社団法人日本ロボット学会の論文