4自由度球面パラレルリンク機構を有する脚部の機構解析

抄録

We have designed and built a leg named “MELEW-2LR” with a 4-DoF spherical parallel link mechanism, in order to develop a highly maneuverable 4-legged wheeled robot with active wheels mounted on the tip of the leg-type robot. This paper describes the mechanical analysis of the 4-DoF parallel link mechanism of the MELEW-2LR. In this paper, the leg mechanism of MELEW-2LR is examined and the features and DoF analysis of the designed parallel link mechanism are reported. The derivation of analytical solutions for the forward and inverse kinematics of MELEW-2LR and the range of motion of MELEW-2LR are also presented. Finally, the validity of inverse kinematics of MELEW-2LR is confirmed by conducting motion experiments in which the translational motion of the tip of its leg in the forward-backward, left-right, and vertical directions and the rotational motion of its yaw angle are controlled by inverse kinematics.