アジャイルアイの作業モードと組立モード
Working and Assembly Modes of the Agile Eye
球面パラレルリスト「アジャイルアイ」の運動学を詳細に解析し、その姿勢作業空間が6本の特異曲線のみで制限されることを初めて示すとともに、順運動学の4解と逆運動学の8解の幾何学的関係を明らかにした論文。
著者: Ilian Bonev, Damien Chablat, Philippe Wenger
分類: cs.RO
原文アブストラクト
This paper deals with the in-depth kinematic analysis of a special spherical parallel wrist, called the Agile Eye. The Agile Eye is a three-legged spherical parallel robot with revolute joints in which all pairs of adjacent joint axes are orthogonal. Its most peculiar feature, demonstrated in this paper for the first time, is that its (orientation) workspace is unlimited and flawed only by six singularity curves (rather than surfaces). Furthermore, these curves correspond to self-motions of the mobile platform. This paper also demonstrates that, unlike for any other such complex spatial robots, the four solutions to the direct kinematics of the Agile Eye (assembly modes) have a simple geometric relationship with the eight solutions to the inverse kinematics (working modes).
