Host: The Japan Society of Mechanical Engineers
Name : [in Japanese]
Date : June 05, 2019 - June 08, 2019
The parallel link mechanism for robots is expected as a robot component for realizing such as high-speed motion, high-rigidity for a load, high-precision positioning, and so on. One of the parallel link mechanisms is the 3-DOF spherical parallel mechanisms. This is that the Base Plate is connected to the End plate with the three units of 3 joints and 3 links. We consider to use the 3-DOF spherical parallel mechanisms as a joint actuator, the shoulder or wrist of the robots, and so on. In this paper, we propose the inverse kinematics of the 3-DOF spherical parallel mechanisms using a spherical trigonometry and perform motion analysis of the 3-DOF spherical parallel mechanisms.
