2014 Fiscal Year Final Research Report
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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| 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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| Free Research Field |
精密機械工学，パラレルメカニズム
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