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

Kazuo MachidaElectrotechnical Laboratory, AIST
Yoshitsugu TodaElectrotechnical Laboratory, AIST
Toshiaki IwataElectrotechnical Laboratory, AIST
Shoichi IikuraToshiba Corporation Research and Development Center
Tadashi KomatsuToshiba 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
Experiment on Pseudo Non-Gravity Floor


Correspondence papers

Kazuo Machida, Yoshitsugu Toda, Toshiaki Iwata,Shoichi Iikura and Tadashi Komatsu:New 3-DOF Parallel Mechanism and Application to Space-Born Smart End-Effector

Journal of the Robotics Society of Japan, Vol. 12, No. 1, pp. 105-111, 1994. (in Japanese)

Related papers

[1] K.Machida, Y.Toda, T.Iwata and T.Komatsu: Smart End Effector for Dexterous Manipulation in Space, J. of Guidance, Control, and Dynamics, Vol.15, No.1, pp.10-16, (1992)

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