5 節球面パラレル機構の逆運動学と運動伝達性の解析

抄録

In this report, A 3-USR parallel mechanism for haptic interfaces has been proposed. To realize large work space, it has triple universal joints whose centers are coincident. Its triple universal joint is composed with three 5 bar spherical parallel mechanisms with 2 D.O.F.. To design the mechanism with large work space in comparison with its size, the motion transmissibility of the spherical parallel mechanism is investigated and active pairs is match 5 bar spherical parallel mechanism are proposed. The Motion Transmissibility of the mechanism is evaluated by using the motion transmission index TI and relationships between its kinematic parameters and have been analytically investigated. Analyze the inverse kinematics of the 5 bar spherical parallel mechanism and evaluate the motion transmissibility.