高速パラレルリンクロボットのためのダブルアクチュエータ型サブアームの機構設計に関する考察

抄録

Mechanical design problem of double actuator type sub-arms for high-speed parallel link robots aiming at ultra-high acceleration is discussed. One of the methods to achieve ultra-high acceleration is to use more actuators than the number of degrees of freedom of motion of the mechanism. In this research, based on such drive redundancy, a double actuator type sub-arm that can apply a large resultant force to the top plate of parallel link robot is described. Then, in the mechanical design of this sub-arm, considerations are given on how to reduce the inertia of the mechanism to achieve high acceleration and how to secure the rigidity of the mechanism to increase the natural angular frequency of the mechanism.