Host: The Japan Society of Mechanical Engineers
Name : [in Japanese]
Date : June 05, 2019 - June 08, 2019
Posture optimization and compliance control for the kinematic redundant three-dof planar parallel robots with rotational mechanisms embedded in the moving part is proposed. The four-limbs controls the positions and angle of the moving part frame, as well as the angle of the rotational mechanism inside the moving part. There are several mechanisms for the embedded rotational mechanisms such as pulley, gear train, rack-and-pinion and crank. Integrated modeling that convers the combinations of the rotational mechanisms and type of the limbs was proposed in the previous paper. This paper discusses the cost function for the posture optimization of the robot in detail, then relates the result to newly derived compliance control of the parallel robot.
