柔軟パラレルメカニズムの剛性最適化

抄録

In this study, we proposed a spring joint’s structure with non-linear rigidity and a 2-DOF compliant parallel mechanism including the spring’s structures. First we conducted a FEM analysis of the spring’s structure. The analysis is revealed that the spring’s structure has a characteristic that the structure is increased rigidity with a 1-DOF rotation of the structure. Finally, we reveal that the spring’s structure compensated a decreasing a rigidity of the compliant mechanism with depending own posture.