パラレルリンク型 2 自由度関節機構とその制御手法の開発

抄録

In a decade, the use of robots is expected not only for industrial usage but also for human support fields. The robots for human support in many cases are provided with redundant robot arm. This study proposes a shoulder joint that realizes the motion of two degree of freedom by using of the parallel mechanisms that consist of three serial links manipulators. This paper deals with the proposed shoulder joint mechanism and the shoulder joint kinematics composed of the kinematics of three serial links manipulator. Numerical simulations are conducted to confirm the feasibilities of the proposed shoulder mechanism into practice.