トルク解析を用いた球面アクチュエータの姿勢制御

抄録

Parallel link mechanism has the potential of high rigidity and high positioning accuracy. Its control operation, however, is difficult to usage as mechanism for machine tools and robots because of machine difference and collision of driving torque. So direct teaching operation is expected in the practical usage of parallel mechanism as robot mechanism. Its mechanical characteristics have to be required for realizing direct teaching operation, however, it is not well known for parallel link mechanisms. In this paper we investigate the relation between the control force applied for the mechanism and the torque of drive systems in the purpose to realize direct teaching operation of 3R4 type spherical parallel link mechanism.