Host: The Japan Society of Mechanical Engineers
Name : [in Japanese]
Date : September 03, 2023 - September 06, 2023
The authors have proposed a novel six-DOF parallel robot, PEN2 (PEN-PEN), which consists of two five-DOF subparallel mechanisms with three-DOF translational and two-DOF tilting output node platforms and a one-DOF additional rotation mechanism. Mobility analysis of PEN2 has been performed using Gruebler's equation and screw theory. This paper reports the inverse kinematics analysis of PEN2 with an RH additional rotation mechanism inherent to a plate tilting sub-mechanism whose moving platforms are driven by one R(SU)2 limb and two RSU limbs. When the R(SU)2 limb is used for the sub-mechanism, tilting the MP causes the MP to rotate around the z-axis relative to the additional rotation mechanism. A vector loop equation was derived for the displacement analysis, including the rotation of this sub-mechanism. The equations were developed using Mathematica software, which uses convergence calculations to find the inverse kinematics solution numerically.
