セッションID: 2A1-L07
会議情報
主催: 一般社団法人 日本機械学会
会議名: ロボティクス・メカトロニクス 講演会2020
開催日: 2020/05/27 - 2020/05/30
3自由度球面機構の運動学計算モデルの開発と試作
詳細
主催: 一般社団法人 日本機械学会
会議名: ロボティクス・メカトロニクス 講演会2020
開催日: 2020/05/27 - 2020/05/30
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 multiple 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 the forward kinematics using the coordinate transformation. Also we have made the trial products of the 3-DOF spherical parallel mechanisms for 3 arms and 4 arms.
