電動６軸パラレルリンクマニピュレータとその応用

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  • A New Analytical System for Evaluating Motion Sensation.
  • デンドウ 6ジク パラレルリンク マニピュレータ ト ソノ オウヨウ

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A 6-degrees-of-freedom (DOF) motion system using a new paralled link mechanism is developed for the purpose of evaluating human motion sensation. This motion system is made up of three five-bar link mechanisms, each of which has 2-DOF and is driven by AC servo motors. Therefore, this system is very small, but its working area is larger and its response is better than those of the hydraulic Stewart platform. Furthermore, I have developed a high-speed parallel signal processing controller for motion control and a new 6-DOF acceleration sensing system based on the parallel sensing concept. Combining the new motion and sensory system with a multi-video system, we have constructed a new analytical system for evaluating a wide bandwidth of motion sensation in riding such vehicles such as automobile or airplanes.

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