パラレルメカニズムの手先分解能指標を用いた設計手法(機械力学,計測,自動制御) A Parameter Design of Parallel Mechanism by Using End Effector Resolution Index(Mechanical Systems)

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In the design of the manipulator to do minute work, the size of the minion's movement is important as a design specification. In this paper, first, the index of the end effector's resolution of the manipulator is proposed. Resolutions of the actuators are associated with the end effector's resolution by this index. The performance function based on the design specification in consideration of that index of the end effector's resolution and the motion area of the manipulator is made. Next, the algorithm that searches for the link parameters to improve the performance function within the given range of the link parameters is developed by using Genetic Algorithm or Powell method. The example of improving the 6-DOF Micro Motion Parallel Mechanism and the example of the link parameter design of another specification are shown, and the effectiveness of the proposed method is confirmed.

収録刊行物

  • 日本機械学会論文集 C編

    日本機械学会論文集 C編 75(750), 374-379, 2009

    一般社団法人 日本機械学会

参考文献:  8件中 1-8件 を表示

各種コード

  • NII論文ID(NAID)
    110007113672
  • NII書誌ID(NCID)
    AN00187463
  • 本文言語コード
    JPN
  • 資料種別
    ART
  • ISSN
    03875024
  • NDL 記事登録ID
    10188550
  • NDL 雑誌分類
    ZN11(科学技術--機械工学・工業)
  • NDL 請求記号
    Z16-1056
  • データ提供元
    CJP書誌  NDL  NII-ELS  J-STAGE 
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