ロボット機構の特性評価と比較 : 第1報,静力学特性に関する評価と比較

抄録

This paper compared and evaluated several kinds of representative robotic mechanisms based on static characteristics. In particular, open-loop mechanisms and two kinds of closed-loop mechanisms, that is, parallel crank mechanisms, were adopted as the representative robotic mechanisms. On the characteristic comparisons of the robotic mechanisms, former research had been carried out on the condition that the configurations of the mechanisms were limited to a certain form. However, static characteristics of the robots are greatly changed by the mechanism configurations. Therefore, this paper paid special attention to the changes of each mechanism characterized by those configurations. Geometrical characteristics, strength characteristics and characteristics based on input/output displacement of these robotic mechanisms were compared and evaluated. As a result, the superior and inferior characteristics of each robotic mechanism were revealed.