非完全拘束型パラレルワイヤ懸垂機構の逆運動学解析と順運動学計算法 Forward and Inverse Kinematics Calculation for Incompletely Restrained Type Parallel Wire Mechanism

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抄録

This paper discusses forward and inverse kinematics problem of parallel wire mechanism where an end-effector of the mechanism is suspended by multiple wires. The mechanism allows not only three dimensional positioning but also three dimensional orientating of the end-effector, unlike typical wire suspension type mechanism such as overhead crane. To distinguish parallel wire mechanisms, the paper first defines constraint states of the end-effector, then parallel wire mechanisms are classified into three categories based on the definition. Each characteristic of the mechanism corresponding to the classification is discussed. Especially, incompletely restrained type parallel wire mechanism is mainly treated in the view point of inverse kinematics and forward kinematics problem. An inverse kinematics analysis and a forward kinematics calculation method for the incompletely restrained type parallel wire mechanism are presented.

収録刊行物

  • 日本ロボット学会誌

    日本ロボット学会誌 20(1), 107-115, 2002-01-15

    The Robotics Society of Japan

参考文献:  18件中 1-18件 を表示

被引用文献:  2件中 1-2件 を表示

各種コード

  • NII論文ID(NAID)
    10008212882
  • NII書誌ID(NCID)
    AN00141189
  • 本文言語コード
    JPN
  • 資料種別
    ART
  • ISSN
    02891824
  • NDL 記事登録ID
    6042522
  • NDL 雑誌分類
    ZN11(科学技術--機械工学・工業)
  • NDL 請求記号
    Z16-1325
  • データ提供元
    CJP書誌  CJP引用  NDL  J-STAGE 
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