ACROBAT-S全方向移動機構のための球駆動解析

抄録

In this paper, we analyze the motion of a ball used for robot mechanism and power transmission. The authors group has been proposed an omnidirectional mechanism (ACROBAT-S). The mechanism has a power transmission mechanism using a ball. However, the motion analysis of a ball has no calculation method widely applicable. So, we introduce a method using a rotation vector for the motion analysis of a ball. In order to establish a ball drive analysis method, we analyze a kinematics of a ball transmission used for ACROBAT-S and verify the kinematics by simulations. From the results, it is confirmed that the analyzed kinematics is reasonable and the analysis method is useful.