パラレルワイヤ駆動機構における運動伝達性の評価

抄録

This paper proposes an evaluation index of motion transmissibility of N degree-of-freedom (dof) in-parallel wire-driven mechanisms with N+1 wires. Utilizing the relationship between input force and output force of N dof in-parallel actuated mechanism with only rigid links, a transmission index for in parallel wire-driven mechanism has been defined. The effectiveness of the index has been confirmed through the comparison of the index with the magnitude of tension force caused by external forces. A six dof spatial mechanism with high motion transmissibility has been obtained.