A Parameter Design of Parallel Mechanism by Using End Effector Resolution Index(Mechanical Systems)
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- SUSAKI Mari
- 三重大学大学院工学研究科
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- KATO Norihiko
- Department of Mechanical Engineering, Mie University
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- FUJIWARA Motoyoshi
- 三重県工業研究所
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- MASUDA Takanori
- 三重県農水商工部
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- NOMURA Yoshihiko
- Department of Mechanical Engineering, Mie University
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- MATSUI Hirokazu
- 三重大学大学院工学研究科
Bibliographic Information
- Other Title
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- パラレルメカニズムの手先分解能指標を用いた設計手法(機械力学,計測,自動制御)
- パラレルメカニズムの手先分解能指標を用いた設計手法
- パラレル メカニズム ノ テサキ ブンカイノウ シヒョウ オ モチイタ セッケイ シュホウ
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Abstract
In the design of the manipulator to do minute work, the size of the minion's movement is important as a design specification. In this paper, first, the index of the end effector's resolution of the manipulator is proposed. Resolutions of the actuators are associated with the end effector's resolution by this index. The performance function based on the design specification in consideration of that index of the end effector's resolution and the motion area of the manipulator is made. Next, the algorithm that searches for the link parameters to improve the performance function within the given range of the link parameters is developed by using Genetic Algorithm or Powell method. The example of improving the 6-DOF Micro Motion Parallel Mechanism and the example of the link parameter design of another specification are shown, and the effectiveness of the proposed method is confirmed.
Journal
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- TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C
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TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C 75 (750), 374-379, 2009
The Japan Society of Mechanical Engineers
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Keywords
Details 詳細情報について
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- CRID
- 1390282681362994816
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- NII Article ID
- 110007113672
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- NII Book ID
- AN00187463
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- ISSN
- 18848354
- 03875024
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- NDL BIB ID
- 10188550
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- Text Lang
- ja
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- Data Source
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- JaLC
- NDL
- Crossref
- CiNii Articles
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- Abstract License Flag
- Disallowed