COUPLING MOTION CHARACTERISTICS OF ELECTOHYDRAULIC PARALLEL LINK 5ERVOMECHANISM WITH SIX DEGREES OF FREEDOM
2002 年 2002 巻 5-2 号 p. 459-464
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2002 年 2002 巻 5-2 号 p. 459-464
The motion of six servo cylinders of parallel link mechanism induce a coupling motion in each other and causes the deterioration of control accuracy. The characteristics of these coupling motion is analyzed by frequency response and modal analysis. The result of frequency response shows that the effect of coupling is remarkable in high frequency region, especially at resonance frequencies. The result of the modal analysis makes it more simple to investigate the complicated characteristics of the high order system dynamics.
