抄録
Parallel link mechanisms with multi drive linear motors (MDLMs) are proposed. The multi drive is a control method of linear motors that multi moving parts are individually driven on a stator part. Various configurations of parallel link mechanisms are constructed on the MDLMs are proposed. The proposed mechanisms have additional features of wide moving area with original characteristics of the parallel mechanisms of rigid mechanisms, high precision and high speed. More over, they are suitable for force control because of low friction direct drive actuators. In this paper, kinematics and dynamics of 2-DOF (xy) with 2MDLMs, and 3-DOF (xyθ) with 3MDLMs (non-redundant) and 4MDLMs (redundant) planer parallel link mechanisms are investigated. Singularity analysis and internal force control method of the 3-DOF with 4MDLMs redundant mechanism are derived and confirmed by numerical simulations. Condition of a dynamical decoupling and constant inertia design of the 2-DOF with 2MDLMs and 3-DOF with 4MDLMs are derived.
