| Budget Amount *help |
¥4,420,000 (Direct Cost: ¥3,400,000、Indirect Cost: ¥1,020,000)
Fiscal Year 2010: ¥2,210,000 (Direct Cost: ¥1,700,000、Indirect Cost: ¥510,000)
Fiscal Year 2009: ¥2,210,000 (Direct Cost: ¥1,700,000、Indirect Cost: ¥510,000)
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| Research Abstract |
This research proposed a novel parallel mechanism with wide movable area. Moreover, a characteristic analysis and optimization of the mechanism was investigated. Concretely, the mechanism that replaced ball joints by pin joints was proposed. And characteristic of the mechanism was analyzed by searching a distribution of the second singularity points. Moreover, optimization of a standard posture was investigated. The effectiveness of the proposed mechanism was confirmed.
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