2010 Fiscal Year Final Research Report
Characteristic Analysis and Optimization of Novel Parallel Mechanism with Wide Movable Area
| Project/Area Number |
21760185
|
|---|
| Research Category |
Grant-in-Aid for Young Scientists (B)
|
| Allocation Type | Single-year Grants |
|---|
| Research Field |
Intelligent mechanics/Mechanical systems
|
|---|
| Research Institution | Chiba University |
|---|
Principal Investigator |
OKAWA Kazuya Chiba University, 大学院・工学研究科, 助教 (50344966)
|
|---|
| Project Period (FY) |
2009 – 2010
|
| Keywords | パラレルメカニズム / 第2種特異点 / 特異点分布 |
|---|
| 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.
|
