1102 モーションベースに用いる三脚パラレルメカニズムの設計と評価(機構の開発,一般講演)

抄録

The Stewart platform type of the parallel mechanism is used as motion bases for many industrial applications. The disadvantage of the Stewart platform type of the parallel mechanism is its limited workspace, wide installation area, and low frequency band. A rotational type of tripod parallel mechanism which has three legs rotating on ground has been proposed and developed for the new motion base. In order to evaluate the motion of the mechanism, a virtual motion simulator and a scale model has been developed. The analytical results show that the new parallel mechanism has larger workspace than the Stewart platform type of parallel mechanism. The developed scale model has high positioning accuracy for the motion base.