非円形歯車駆動2自由度マニピュレータの開発

（運動学特性の解析と試作モデルによる基本動作実験）

抄録

If noncircular gears are incorporated into the active joints of manipulators, it is expected that the distribution of the basic kinematic properties such as force and velocity that can be generated at hand can be changed without modifying the mechanism. This paper takes the case of incorporating noncircular gears into the active joints of a 2DOF manipulator consisting of a five-bar linkage as an example. First, the design method of noncircular gears to realize the above effects is discussed. Specifically, manipulability polytopes are used as the evaluation index, and their shapes are deformed in a specified direction by introducing noncircular gears. Next, the system for making noncircular gears is described, and two pairs of noncircular gears produced by this system are shown. The system automatically outputs data representing noncircular gear geometry by inputting the change in reduction ratio during one rotation, distance between rotating axes, and module. Finally, a prototype model of a 2DOF manipulator with noncircular gears is shown to demonstrate that a controllable mechanical model is feasible.