自走式5自由度プラットフォームの回転動作と負荷特性

抄録

This paper describes the rotational motion and load characteristics of a movable 5-DOF platform. The platform utilizes the principle of an inchworm. Six electromagnets and six piezoelectric actuators consists the platform. The rotational displacement of the platform however decreases while the load increases. This result implies that the attractive force of the electromagnets used in the platform is not sufficient.