抄録
Currently, the robot has been active in industrials, nursing and medical care. In order to carry out complicated works, it is necessary to develop a bilateral master-slave system. We designed and developed master equipment using a parallel link mechanism. This study aims to develop the practical force-reflecting with parallel link mechanism. The master equipment has 6 degrees of freedom using six geared actuators with rotary encoders. To control the movement of the tip, the program uses inverse kinematics. We developed the program to compute the angles of all six actuators. This feature is used for a driving device with multi degrees of freedom. In addition, it has strain gauges to obtain force information at the tip We designed and developed to set up slave equipment on the virtual space, and developed the position control and force-reflection control programs Experimental results show that it is possible to control the position and force-reflection at the same time Furthermore we improve the rigidity and accuracy of the equipment and develop the slave equipment
