ロボティクス・メカトロニクス講演会講演概要集
Online ISSN : 2424-3124
セッションID: 2A1-L07
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3自由度球面機構の運動学計算モデルの開発と試作
*福丸 浩史高木 俊樹林 朗弘
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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.

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