ロボティクス・メカトロニクス講演会講演概要集
Online ISSN : 2424-3124
セッションID: 2P2-13b1
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大作業領域を有する力覚提示装置用3-USR形パラレルメカニズムの開発
小林 亮介菅原 陸樋口 勝
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会議録・要旨集 フリー

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In this report, a 3-USR parallel mechanism with large work space for haptic devices is proposed. In order to realize large work space, center points of three universal joints must be coincident. As these joints, 2 D.O.F. spherical parallel mechanisms are adopted. To place three spherical mechanisms in condition that centers of these mechanisms are coincident without interference of each other, one active joint of each mechanism is placed inside of the mechanism. A prototype of the mechanism are designed and fabricated. And its performance are investigated.

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© 2016 一般社団法人 日本機械学会
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