Development of a novel asymmetrical designed redundantly actuated 3-dof spatial parallel mechanism with large workspace and high accuracy
| Project/Area Number |
24560314
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| Research Category |
Grant-in-Aid for Scientific Research (C)
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| Allocation Type | Multi-year Fund |
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| Section | 一般 |
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| Research Field |
Intelligent mechanics/Mechanical systems
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| Research Institution | Kinki University |
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Principal Investigator |
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| Project Period (FY) |
2012-04-01 – 2015-03-31
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| Project Status |
Completed (Fiscal Year 2014)
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| Budget Amount *help |
¥5,330,000 (Direct Cost: ¥4,100,000、Indirect Cost: ¥1,230,000)
Fiscal Year 2014: ¥650,000 (Direct Cost: ¥500,000、Indirect Cost: ¥150,000)
Fiscal Year 2013: ¥2,340,000 (Direct Cost: ¥1,800,000、Indirect Cost: ¥540,000)
Fiscal Year 2012: ¥2,340,000 (Direct Cost: ¥1,800,000、Indirect Cost: ¥540,000)
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| Keywords | ロボティクス / パラレルメカニズム / 非対称構造 / 冗長自由度 / モード変化 / 広可動範囲 |
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| Outline of Final Research Achievements |
A novel parallel mechanism which enlarges the workspace by singularity-free mode change is proposed. The proposed mechanism is inherited the design of Linear DELTA which has three degree-of-freedom translational moving plate driven by three linear actuators, in addition, extended it by redundantly actuation by four linear actuators and asymmetric design. New criterions about redundancy and singularity of redundantly actuated parallel mechanism using summation and product of determinants of minor matrices of the transposed Jacobian matrix are proposed. Redundantly actuation and asymmetric design enables singularity-free mode changes with loss redundancy but maintain non-singularity, that are evaluated by the proposed criterions. Numerical simulations demonstrate the singularity-free mode changes of the proposed mechanism. The singularities avoided mode changes were performed by newly developed prototype.
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Report
(4 results)
Research Products
(28 results)
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[Presentation] 冗長駆動パラレルロボット2014
Author(s)
原田 孝
Organizer
日本機械学会機素潤滑設計部門講演会
Place of Presentation
信州松代ロイヤルホテル(長野市)
Year and Date
2014-04-21 – 2014-04-22
Related Report
Invited
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