2A2-K01 平面3自由度冗長駆動パラレルメカニズムの姿勢遷移方法の提案(パラレルロボット・メカニズム)

Abstract

For the purpose of extending the workspace of a 2-PRRRP redundantly actuated 3-degrees-of-freedom planar parallel mechanism by transition configurations, a method of the transition configurations to specialize redundant actuation is proposed. In this paper, in regard to the reverse bending motion which is transition configurations (assembly mode change) between a numbers of solutions of direct kinematics, a method to avoid a singular configuration in transition configurations is proposed. First, by using mechanical properties of a PRRRP sub mechanism, the solutions of direct kinematics are derived and states of transition configurations are defined. Next, a method of transition configurations to avoid a singular configuration for Reverse bending motion is proposed by extending the singular configuration analysis to redundantly actuated mechanism from non-redundantly actuated mechanism. The results to achieve the proposed method of transition configurations using experimental equipment are shown.