2005 年 2005 巻 6 号 p. 80-84
The bench test machine of single shaft is used to develop the motorcycle frame now. It is not expressible for the simple apparatus though combined load is added to the frame while the motorcycle is actually running. Parts of the motorcycle might break down some time. This is very dangerous and efficient test method is desired. But application of conventional test method of single or multiple actuators is difficult, because test object is relatively small and fragile. In this situation, we developed new method of load test using parallel mechanism. Advantage of this method is possibility to generate any assigned force or moment vector at desired small point. That is, combined skew force or three-axis moment test becomes possible by only software change. We actually designed practical parallel mechanism actuating system for motorcycle. End-effector force and moment vector are converted to cylinder pressure command by Jacobian matrix method.
