移動式のモータユニットを有するパラレルワイヤ駆動ロボットの可動範囲解析

抄録

This paper proposes a parallel-wire driven robot with a movable motor unit to realize a versatile parallel-wire driven robot. The movement ranges of rotational and translational motion of an end-effector are determined by motor positions in conventional parallel-wire driven robots. Moreover, the rotational motion is affected by the translational motion and restricted by the end-point position of the parallel-wire driven robot. In this study, the working area of a parallel-wire driven robot that is a combination of the range of rotational and translational motion is analyzed. In addition, the working area can be expanded by moving a motor unit.