Host: The Japan Society of Mechanical Engineers
Name : [in Japanese]
Date : June 01, 2022 - June 04, 2022
Parallel link mechanism is expected as a sort of mechanical device of machine tools and robots for realizing high positioning accuracy and high rigidity. For practical application, however, the problem of inverse kinematics has to be resolved on the position aberration occurred by machine difference, the bending caused by the collision of redundant drive system, and so on. To cope with the problem, we propose a method for defining inverse kinematics function which is represented by polynomial interpolation function tailored as obtaining physical correspondence with the posture of parallel link mechanism and the instruction of drive system. And we show the feasibility and effectiveness of the proposed method through a numerical experiment using theoretical inverse kinematics function and an application for practical parallel link mechanism.
