DYNAMIC CHARACTERISTICS OF PARALLEL LINK MECHANISM WITH SIX DEGREES OF FREEDOM USING ELECTRO-HYDRAULIC SERVO CYLINDERS

抄録

The Stewart platform type parallel link mechanism with 6 degrees of freedom is a structure which has arranged six single rod hydraulic cylinders parallel between the base platform and the end effecter of the controlled object. The both ends of each link are connected with the base platform and the end effecter using free joints, respectively. The terminal can rotate freely. By controlling the length of each link by the hydraulic cylinder, the position and posture of the end effecter is controlled with 6 degrees of freedom in three-dimensional space.
In this report, the dynamic characteristics between the input and output of one link that comprises the parallel link mechanism is measured. The frequency response is measured for the various center position or attitude of the end effecter. The load mass and the amplitude are also changed.
The interference that each link receives from one link is examined by experiment. The frequency response of the interference that each link received is presented.