差動ネジ対偶と差動ベルト駆動を用いたXYZθパラレルロボットの提案

抄録

Double H' SMG, a novel Schönflies motion generator of 4 dof (xyzθ) parallel robot driven by differential screw pairs and differential belt drives is proposed in this paper. Configuration of the differential belt drives of the double H' SMG is inherited from well known H-Frame mechanism, 2 dof (xy) planar translational parallel robot, but expand it to xγ translational and rotational parallel robot. The combination of the xγ parallel robot and differential screw pairs embedded in the moving part will lead to the double H' SMG. Inverse kinematics and forward kinematics of the double H' SMG are derived. Prototype of the robot is designed and developed by using round belt drive.