3自由度球面機構の運動学計算モデルの開発と試作

抄録

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.