Proposal of Link Composition for Rotational Parallel Mechanism with Pin Joints and Investigation of Movable Area
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- Okawa Kazuya
- Graduate School of Engineering, Chiba University
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- Okamura Yoshihiro
- Graduate School of Engineering, Chiba University
Bibliographic Information
- Other Title
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- ピンジョイントを用いた回転型パラレルメカニズムのリンク構成の提案と可動領域の調査
- 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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Abstract
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.
Journal
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- Journal of the Robotics Society of Japan
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Journal of the Robotics Society of Japan 29 (2), 184-191, 2011
The Robotics Society of Japan
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Details 詳細情報について
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- CRID
- 1390282679705294720
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- NII Article ID
- 10027810481
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- NII Book ID
- AN00141189
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- ISSN
- 18847145
- 02891824
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- NDL BIB ID
- 11048169
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- Text Lang
- ja
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- Data Source
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- JaLC
- NDL
- Crossref
- CiNii Articles
- KAKEN
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- Abstract License Flag
- Disallowed