1101 インパクトドライブ機構を用いた6軸パラレルリンクマニピュレータの製作(機構の開発,一般講演)

抄録

Recently, compact machine tool is demanded in manufacturing of small machines with high accuracy. However, the compact machine, i.e. downsizing of the machines, has problems, such as reduction of accuracy and decrease in the motion range. Accordingly, we focused on the downsizing of a parallel link manipulator which is known as having high rigidity and accuracy. And we developed the small parallel link manipulator. For the designing of manipulator, we proposed following things. The non-cylindrical link was adopted to avoid collision between links. And impact drive mechanism was used as an actuator. We confirmed that the manipulator had enough accuracy to handling small electronic parts by measuring the repeatability.