Parallel Mechanism with Adjustable Link Parameters

Arai, Tatsuo; Koseki, Yoshihiko; Takayama, K.; Inoue, Kenji; Mae, Yasushi

doi:10.7210/jrsj.22.140

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“…However by making its link parameters adjustable, multiple configurations having individual and larger workspace in such mechanism can be achieved. T. Arai, K. Takayama, and Y. Koseki have explained such adjustments for parallel robots in [2], [3] and [4].…”

Section: Introductionmentioning

confidence: 97%

Workspace analysis of parallel mechanism with adjustable link parameters

Tanaka

Arai

Inoue

et al.

ICAR '05. Proceedings., 12th International Conference on Advanced Robotics, 2005.

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Parallel mechanism has some good advantages, but small workspace is a big drawback[1]. We have proposed a parallel mechanism with adjustable link parameters in the previous paper[2][3][4]. In this mechanism, there is a need to adjust the suitable link parameters for the required workspace for certain task. In this paper we discuss the workspace and voids of linearly actuated parallel mechanism with adjustable link parameters. We divide the mechanism into normal and transfigured type and compare these parameters with each other in order to analyze the properties of mechanism at different positions.

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Section: Introductionmentioning

confidence: 97%