Host: The Japan Society of Mechanical Engineers
Name : [in Japanese]
Date : June 05, 2019 - June 08, 2019
Parallel link mechanism for robots is expected as a robot component for realizing such as high-speed motion, highrigidity for a load, high-precision positioning, and so on. In its practical usage, however, we often meet a problem of kinematics in which we cannot sometimes define forward and/or inverse kinematics functions. Therefore, we investigate a kinematics problem of parallel link type spherical mechanism where two simple and popular spherical mechanisms are placed to be opposite to each other. In this paper, we present the forward and the inverse kinematics function and their derivation process of the parallel link type spherical mechanism by using spherical trigonometry and the validity of these functions with a numerical experiment.
