抄録
In this study, we developed parallel link mechanisms by using multi-drive linear motors. Kinematics, dynamics, and control method of a three-degree-of-freedom (xyθ) planar parallel link mechanism with four redundant moving parts (3D4M mechanism) were investigated. A prototype of the 3D4M mechanism, which has decoupled dynamic characteristics, was developed. A notable kinematic characteristic of this mechanism was observed: the forward kinematics equation can be easily obtained by this mechanism. Workspace impedance control achieved by a force command was implemented in the prototype using a DSP based real time controller. Experimental responses of free vibrations to impedance control were compared with corresponding theoretical responses.
