Host: The Japan Society of Mechanical Engineers
Name : [in Japanese]
Date : March 13, 2024 - March 14, 2024
We propose a 2DOF manipulator in which two gear-link mechanisms replace the two active joints of a standard five-bar linkage. Due to the effect of the various curves produced by the gear-link mechanism, this mechanism has many inverse kinematics solutions, and the kinematic properties can be easily changed by the choice of solutions. This manipulator is expected to be able to handle a wide variety of tasks by appropriately selecting an inverse kinematics solution for each task. First, we show how to solve the inverse kinematics problem for the manipulator. Next, the characteristics mentioned above were confirmed by computer simulations such as drawing manipulability polytopes which depend on the solutions, calculating the distribution of the number of solutions in the movable range, graphically expressing configuration space, and searching for a path to move to another solution while avoiding singular configurations. Furthermore, we developed prototype model and confirmed that the manipulator can actually move between inverse kinematics solutions.
