S113023 冗長8軸パラレルメカニズムの設計と特徴([S11302]機械システムの要素技術と設計(2))
詳細
This paper reports design and properties of a novel redundant drive 8-axis parallel kinematic machine. Redundant drive or over actuated parallel kinematics means that the platform carrying the end-effecter is supported by more parallel links with drives than the number of degree of freedom of the platform. The concept of redundant drives removes essential problems of parallel kinematics. Proposed novel redundant drive 8-axis Parallel Kinematic Machine has proven that mechanical properties can be simultaneously increased.
