S1102-1-1 平面回転形三脚パラレルメカニズムの提案とその評価([S1102-1]パラレルメカニズムとその応用)

抄録

This paper describes the design, analysis and performance of a rotational type of tripod parallel mechanism. The new parallel mechanism has three legs rotating on ground. In order to evaluate motion of the mechanism, we designed a simulator to calculate the motion of the mechanism and analyze the performance of the mechanism by repeated calculatioa The analytical results show that the rotational type of tripod parallel mechanism has larger motion space and angle than the Stewart platform type of parallel mechanism.