2リム冗長駆動6自由度パラレルロボットの運動学的な等方性を考慮した最適設計

抄録

In this paper, a Jacobian matrix normalization and an optimal design method for two limbs redundantly actuated six-dof parallel robot “ATARIGI” are proposed. When using the kinematic performance index, the Jacobian matrix must be normalized because the matrix contains elements in non-uniform physical units. The Jacobian matrix of ATARIGI with different types of actuators is normalized based on the thrust and torque ratio between the linear actuator and the motor. The normalized Jacobian matrix is divided into the thrust and the torque elements then the isotropy of the hand is evaluated. Separating the elements makes it possible to compare the isotropic of the manipulating force ellipsoid of the thrust and the torque on the hand. Optimization of the thrust and the torque ratio of the actuators enables a design that well-balances both the thrust and the torque isotropy of the hand.