Host: The Japan Society of Mechanical Engineers
Name : [in Japanese]
Date : June 01, 2022 - June 04, 2022
Novel six-dof parallel robots comprised of two-sub mechanisms are proposed in this paper. Moving platforms of sub mechanisms are linked via differential screw drive mechanism which becomes the output link of the robot. The relative translational position of two moving platforms is converted to the angle of the differential screw, which enables a wide operational range around the screw angle. Each moving plate has five-dof, three-dof translations and two-dof turning around x and y axes, thus the output link of the robot has six-dof. Conventional robots have been comprised of two three-dof translational sub mechanisms. In that case, additional mechanisms for turning the output link are needed. The novelty of the proposed robot is the five-dof sub mechanisms with no additional turning mechanisms. Three types of the sub mechanisms are proposed in this paper. The validity of the proposed mechanisms were confirmed by prototypes made by 3D printer.
