History of Robotics Research and Development of Japan1994Integration, Intelligence, etc.New 3-DOF Parallel Mechanism and Application to Space-Born Smart End-Effector

Kazuo Machida	Electrotechnical Laboratory, AIST
Yoshitsugu Toda	Electrotechnical Laboratory, AIST
Toshiaki Iwata	Electrotechnical Laboratory, AIST
Shoichi Iikura	Toshiba Corporation Research and Development Center
Tadashi Komatsu	Toshiba Corporation Research and Development Center

A new three-degrees-of freedom parallel mechanism called PMP (Parallel Moving Platform) is devised to develop a smart end effector which adds dexterous capability to a long space manipulator arm. The PMP consists of a platform connected to a flexible base by three linear actuators and three parallel constraint mechanisms, and it has the advantages of compactness, simple kinematic relation, and translational mobility in the direction of approach. The kinematics are expressed by simple algebraic formulations. This paper deals with the kinematics analysis of the PMP and its application to the smart end effector. The forward and inverse transformation, singular configuration, and work space analysis of the mechanism are described. Moreover, the development of the smart end effector using the combination of the PMP and a 3-axis gimbal, and experiment results are presented.19th (1995) RSJ Best Paper Award

無重力模擬フロアでの実験 — Experiment on Pseudo Non-Gravity Floor

記事はありません。

Related Article