パラレルリンク機構を有する5自由度ロボットアームの関節可動域の改良

抄録

Robot arms are expected to work like human arms in daily life and other situations. To make this possible, we considered making the arm of the robot arm lighter like a human arm. In this study, we use a parallel link mechanism, which is known to make the arm lighter. we describe the control method for the 5-DOF robot arm using the 3-DOF parallel link mechanism that performs the following motions: shoulder flexion/extension, external/internal rotation, and elbow flexion/extension.