抄録
The purpose in this study is to investigate the static and dynamic characteristics of the pantograph mechanism. The static characteristic is clarified to analyze the nonlinear torque at the hinges and the displacement error of the output point. The dynamic characteristic deals with the forces at the input and the hinges, along with the dynamic displacement error of the output point when the miniature manipulator is driven at 20Hz, and the output point is moved on a U-shape for picking and placing works. We consider forced vibrations corresponding to natural frequencies and mode shapes of the pantograph mechanism. These investigations apply the Finite Element Method (ANSYS) and Multi-Body-System approach (SIMPACK) and different levels of modeling are compared.
