パラレルリンク型多自由度関節機構の構造解析

抄録

The shoulder and wrist of the robots have multi-degrees-of-freedom joint. The parallel mechanism using three actuators is applied to this joint using the spherical motion mechanism. This study proposes a shoulder joint that realizes the motion of three degree of freedom by using of the parallel mechanisms that consist of three serial links manipulators. This paper deals with the proposed the kinematics of the parallel link mechanism composed of the kinematics of three serial links manipulator. Perform motion analysis of the proposed parallel link mechanism focusing on characteristics of spherical motion mechanism