エンドエフェクタの無限回転を実現する2プレート6自由度パラレルロボットの機構設計

抄録

A novel two-platform six-DOF parallel robot with infinite end-effector rotation is proposed. The proposed parallel robot is comprised of two sub-parallel robots driven by three motors and a crank mechanism as an articulated platform. The sub-parallel robots enable tilting of the moving platform; thus, the additional mechanism of the articulated platform is simple and lightweight compared with conventional multi-DOF but complex and heavy mechanisms. Using the locking and releasing method by screw theory, the mobility of the proposed parallel robot was derived as six-DOF. A singular configuration that exists explicitly in the articulated platform parallel robot is also discussed in this paper.