日本ロボット学会誌
Online ISSN : 1884-7145
Print ISSN : 0289-1824
ISSN-L : 0289-1824
2本の第1関節非駆動型2リンク系の結合による垂直面内可変形態パラレルロボット
小俣 透森 治内海 祐治
著者情報
ジャーナル フリー

2002 年 20 巻 6 号 p. 640-646

詳細
抄録

Serial link robots with unactuated (passive) joints are attracting research interest. If two of such robots can couple with each other, they can reconfigure to a parallel robot, which can make the number of actuators equal to the number of degrees of freedom. If they can couple with each other at different portions of them, they can constitute a reconfigurable parallel robot. This paper proposes this concept of a robot, presenting that two two-link robots, the first joints of which are unactuated, can reconfigure to a 5-link planar parallel configuration and a 4-link planar parallel configuration plus one actuated link. This reconfigurable parallel robot has only two actuators but can have multiple functions by reconfigurations. Due to the unactuated joints, whether or not the two-link robots can couple with each other is a non-trivial problem. We propose coupling sequences for forming the 4-link and 5-link configurations and verify those experimentally.

著者関連情報
© 社団法人 日本ロボット学会
前の記事 次の記事
feedback
Top