特異姿勢を利用した高精度位置決めリンク機構の開発

抄録

In this research, we propose a high accuracy linear positioning mechanism using singular configuration of manipulator. First, we introduce a basic mechanism using singular configuration. Then, we describe the linear positioning mechanism which is developed with the principle of the basic mechanism. By analyzing theoretical precision of the mechanism, we show that the mechanism can achieve more accurate and faster positioning than simple crank slider mechanisms and linear actuators. From results of basic experiment, we confirm the validity of the mechanism precision using singular configuration. After that, we also confirm the mechanism precision by peg-in-hole application experiment. Finally, we discuss a design method for the mechanism with desired motion distance.