航空機組立向け6自由度トリプルシザーエクステンダーロボットの設計と解析
Design and Analysis of 6-DOF Triple Scissor Extender Robots with Applications in Aircraft Assembly
3つのシザー機構を並列配置した伸縮可能な6自由度パラレルロボットを提案し、運動学モデルを導出して作業空間・特異点・ヤコビ行列特異値への設計パラメータの感度を解析した。
著者: Daniel J. Gonzalez, H. Harry Asada
分類: cs.RO
原文アブストラクト
A new type of parallel robot mechanism with an extendable structure is presented, and its kinematic properties and design parameters are analyzed. The Triple Scissor Extender (TSE) is a 6 Degree-Of-Freedom robotic mechanism for reaching high ceilings and positioning an end effector. Three scissor mechanisms are arranged in parallel, with the bottom ends coupled to linear slides, and the top vertex attached to an end effector plate. Arbitrary positions and orientations of the end effector can be achieved through the coordinated motion of the six linear actuators located at the base. By changing key geometric parameters, the TSE's design can yield a specific desired workspace volume and differential motion behavior. A general kinematic model for diverse TSEs is derived, and the kinematic properties, including workspace, singularity, and the Jacobian singular values, are evaluated. From these expressions, four key design parameters are identified, and their sensitivity upon the workspace volume and the Jacobian singular values is analyzed. A case study in autonomous aircraft assembly is presented using the insights gained from the design parameter studies.
