Simscape Multibodyを用いた4自由度差動ベルト・差動ネジ駆動パラレルロボットの動力学解析

抄録

Dynamical analysis of Double-H SMG, a novel Cartesian four-dof parallel robot driven by differential belts and differential screws is discussed in this paper. The Double-H SMG is planned to be applied to a haptic device that is manipulated by gripping the tip. A dynamical decoupling design is favorable for the impedance control of the robot. A dynamic simulator was developed using Simscape Multibody. The efficiency of the design for the small decoupling in the inertia matrix was confirmed by using the simulator.