柔軟パラレルメカニズムの逆運動学解析手法

抄録

Compliant parallel mechanisms are parallel mechanisms using flexible spring joints instead of general bearings and axes. In this study, we apply a variational method that is used to simulate a flexible deformation of springs and so on to kinematics of the compliant parallel mechanism. First, a direct kinematics using the variational method is presented. Then, an inverse kinematics method based on the variational method is developed. Finally, we confirm that these methods can calculate a position of an output point or actuated joint’s angles without pseudo rigid kinematics.