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Article: パラレルリンクマニピュレータの力解析

Titleパラレルリンクマニピュレータの力解析
Input/Output Force Analysis of Parallel Link Manipulator
Authors
KeywordsRobot
Parallel Link Manipulator
Force Analysis
Kinematics
Issue Date1994
Citation
日本機械学会論文集C編, 1994, v. 60, n. 575, p. 2338-2344 How to Cite?
Transactions of the Japan Society of Mechanical Engineers Series C, 1994, v. 60, n. 575, p. 2338-2344 How to Cite?
AbstractThis paper proposes a method to evaluate the kinematic structure of parallel link manipulators, based on the output force/torque of the mechanisms. As is well known, the relationship between the actuator force/torque and the output force/torque of manipulators is expressed by a manipulator Jacobian. In the conventional method based on the Jacobian matrix, both force and torque are analyzed simultaneously. However, it is not natural to deal with both force and torque simultaneously, since the force and torque have different dimensions. In this paper, we consider the output force and the output torque independently, and introduce the translatability and the rotatability of the manipulators. The kinematic structure is then analyzed based on the translatability and the rotatability of the manipulators. The translatability and the rotatability depend on the maximum output force and output torque of the manipulators, respectively, for given actuator forces. The proposed method is more natural than the conventional method and is useful for the design of the manipulator kinematic structure. An example illustrates the method. © 1994, The Japan Society of Mechanical Engineers. All rights reserved.
Persistent Identifierhttp://hdl.handle.net/10722/302630
ISSN
2019 SCImago Journal Rankings: 0.104

 

DC FieldValueLanguage
dc.contributor.authorKosuge, Kazuhiro-
dc.contributor.authorOkuda, Minoru-
dc.contributor.authorKawamata, Hiroyuki-
dc.contributor.authorFukuda, Toshio-
dc.contributor.authorKozuka, Toshiki-
dc.contributor.authorMizuno, Tomoo-
dc.date.accessioned2021-09-07T08:42:17Z-
dc.date.available2021-09-07T08:42:17Z-
dc.date.issued1994-
dc.identifier.citation日本機械学会論文集C編, 1994, v. 60, n. 575, p. 2338-2344-
dc.identifier.citationTransactions of the Japan Society of Mechanical Engineers Series C, 1994, v. 60, n. 575, p. 2338-2344-
dc.identifier.issn0387-5024-
dc.identifier.urihttp://hdl.handle.net/10722/302630-
dc.description.abstractThis paper proposes a method to evaluate the kinematic structure of parallel link manipulators, based on the output force/torque of the mechanisms. As is well known, the relationship between the actuator force/torque and the output force/torque of manipulators is expressed by a manipulator Jacobian. In the conventional method based on the Jacobian matrix, both force and torque are analyzed simultaneously. However, it is not natural to deal with both force and torque simultaneously, since the force and torque have different dimensions. In this paper, we consider the output force and the output torque independently, and introduce the translatability and the rotatability of the manipulators. The kinematic structure is then analyzed based on the translatability and the rotatability of the manipulators. The translatability and the rotatability depend on the maximum output force and output torque of the manipulators, respectively, for given actuator forces. The proposed method is more natural than the conventional method and is useful for the design of the manipulator kinematic structure. An example illustrates the method. © 1994, The Japan Society of Mechanical Engineers. All rights reserved.-
dc.languagejpn-
dc.relation.ispartof日本機械学会論文集C編-
dc.relation.ispartofTransactions of the Japan Society of Mechanical Engineers Series C-
dc.subjectRobot-
dc.subjectParallel Link Manipulator-
dc.subjectForce Analysis-
dc.subjectKinematics-
dc.titleパラレルリンクマニピュレータの力解析-
dc.titleInput/Output Force Analysis of Parallel Link Manipulator-
dc.typeArticle-
dc.description.naturelink_to_OA_fulltext-
dc.identifier.doi10.1299/kikaic.60.2338-
dc.identifier.scopuseid_2-s2.0-0028461814-
dc.identifier.volume60-
dc.identifier.issue575-
dc.identifier.spage2338-
dc.identifier.epage2344-

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