抄録
Parallel link mechanisms with multi drive linear motors were proposed. The multi drive is a control method of linear motors that moving parts are individually driven on one stator part. The proposed mechanisms have additional features of wide moving area in addition to the original characteristics of the parallel mechanisms such as rigid mechanisms, high speed and high precision. In the previous reports, kinematics and dynamics characteristics of 3DOF planar parallel link mechanism with redundant 4 moving parts was investigated. Prototype of the mechanism and its control system were developed. In this paper, the formula for forward kinematics of the parallel link mechanisms was derived. Position control and impedance control of the mechanisms using the prototype are investigated.
