2001 年 44 巻 1 号 p. 180-187
We have developed an index for evaluating the force transmission characteristics in N degree-of-freedom (dof) in-parallel wire-driven mechanisms (PWDMs) with N+1 wires. The relationship between input force and output force in an N-dof in-parallel actuated mechanism with only rigid links was used for defining the transmission index for a PWDM. The index was compared with the magnitude of tensile force caused by external forces. And it was used to kinematically synthesize a six-dof spatial PWDM with seven wires. The results of these comparison and kinematic synthesis are shown to support the proposed index.
JSME international journal. Ser. 1, Solid mechanics, strength of materials
JSME international journal. Ser. A, Mechanics and material engineering
JSME international journal. Ser. 3, Vibration, control engineering, engineering for industry
JSME international journal. Ser. C, Dynamics, control, robotics, design and manufacturing
JSME International Journal Series A Solid Mechanics and Material Engineering
JSME International Journal Series B Fluids and Thermal Engineering