非ホロノミック機構を用いたモバイルパラレルマニピュレータ

抄録

Mobile manipulators that can transport and manipulate objects by themselves have attracted attention, but conventional mechanisms require many motors. To solve this problem, this study proposes a mobile parallel manipulator (MPM) that uses a nonholonomic mechanism. The proposed MPM has two nonholonomic two-wheel-drive carts and a single-loop parallel mechanism including revolute and screw pairs. Due to the nonholonomic constraints of the carts, the position and posture of the output platform can be controlled by only four motors, resulting in a reduction in the number of motors compared to the conventional mechanisms. This paper describes the structure and motion of the proposed MPM, and then demonstrates its basic effectiveness through motion experiments.