3自由度ハイブリッドマニピュレータの運動学的設計
The Kinematic design of a 3-dof Hybrid Manipulator
平面5節リンクに直列に回転関節を追加した直並列ハイブリッドマニピュレータを提案し、特異点回避や剛性・精度の観点から構造寸法の影響を解析した論文。
著者: Damien Chablat, Philippe Wenger, Jorge Angeles
分類: cs.RO
原文アブストラクト
This paper focuses on the kinematic properties of a new three-degree-of-freedom hybrid manipulator. This manipulator is obtained by adding in series to a five-bar planar mechanism (similar to the one studied by Bajpai and Roth) a third revolute passing through the line of centers of the two actuated revolute joints of the above linkage. The resulting architecture is hybrid in that it has both serial and parallel links. Fully-parallel manipulators are known for the existence of particularly undesirable singularities (referred to as parallel singularities) where control is lost [4] and [6]. On the other hand, due to their cantilever type of kinematic arrangement, fully serial manipulators suffer from a lack of stiffness and from relatively large positioning errors. The hybrid manipulator studied is intrinsically stiffer and more accurate. Furthermore, since all actuators are located on the first axis, the inertial effects are considerably reduced. In addition, it is shown that the special kinematic structure of our manipulator has the potential of avoiding parallel singularities by a suitable choice of the "working mode", thus leading to larger workspaces. The influence of the different structural dimensions (e.g. the link lengths) on the kinematic and mechanical properties are analysed in view of the optimal design of such hybrid manipulators.
