書誌事項
- タイトル別名
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- Proposal of Link Composition for Rotational Parallel Mechanism with Pin Joints and Investigation of Movable Area
- ピンジョイント オ モチイタ カイテンガタ パラレルメカニズム ノ リンク コウセイ ノ テイアン ト カドウ リョウイキ ノ チョウサ
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抄録
This paper describes that a proposal of link composition for a parallel mechanism with pin joints. The maximum angle of inclination by the general parallel mechanism with ball joints is about 55 degrees because of limitations of angle of those joints. Therefore, a novel parallel mechanism that replaced ball joints by the pin joints with wide movable angle is proposed. Moreover, three kinds of link composition that are an outside type, an inside type and a combination type are proposed. The transmission index is investigated about these three types, therefore it has been understood that the combination type is able to move in the widest area. It was confirmed to be able to move the inclination angle of the end effector to 90 degrees by simulations and experiments, and showed the effectiveness.
収録刊行物
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- 日本ロボット学会誌
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日本ロボット学会誌 29 (2), 184-191, 2011
一般社団法人 日本ロボット学会
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詳細情報 詳細情報について
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- CRID
- 1390282679705294720
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- NII論文ID
- 10027810481
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- NII書誌ID
- AN00141189
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- ISSN
- 18847145
- 02891824
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- NDL書誌ID
- 11048169
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- 本文言語コード
- ja
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- データソース種別
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- JaLC
- NDL
- Crossref
- CiNii Articles
- KAKEN
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- 抄録ライセンスフラグ
- 使用不可