2011 Fiscal Year Final Research Report
Development of hybrid manipulators which achieve precise motions within a large workspace
| Project/Area Number |
21560143
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| Research Category |
Grant-in-Aid for Scientific Research (C)
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| Allocation Type | Single-year Grants |
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| Section | 一般 |
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| Research Field |
Design engineering/Machine functional elements/Tribology
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| Research Institution | Tokyo Institute of Technology |
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Principal Investigator |
TAKEDA Yukio 東京工業大学, 大学院・理工学研究科, 准教授 (20216914)
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| Project Period (FY) |
2009 – 2011
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| Keywords | 機構学 / ロボット工学 / パラレルメカニズム / ハイブリッドマニピュレータ / 機構総合 / キャリブレーション |
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| Research Abstract |
Hybrid manipulator which is composed of a translational parallel mechanism and a pure-rotational parallel mechanism has been proposed. Methods for mechanism design and kinematic calibration of such hybrid manipulator have been investigated for achieving precise motion within a large workspace.
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