歩行ロボットの関節に用いる並列クランクスライダ機構 : 第1報,機構の運動学的解析

抄録

In this paper, a kinematical analysis of a parallel crank-slider mechanism in walking robots is described. The parallel crank-slider mechanism proposed by us consists of a pair of crank-slider mechanisms and has two degrees of freedom. This mechanism is similar to an animal joint system and has the characteristics of high rigidity and compact structure. However, it has complicated kinematics, because the direct kinematics is described as two polynomials of 8th degree. The kinematics of the parallel crank-slider mechanism was analyzed and the method of solving the kinematics in real time was proposed.