マルチ駆動リニアモータを用いたパラレルリンク機構に関する研究 : 第1報,機構の形態と力学モデル(機械力学,計測,自動制御)  [in Japanese] Parallel Link Mechanism Using Multi Drive Linear Motors : 1st Report, Configurations and Mathematical Models(Mechanical Systems)  [in Japanese]

Parallel link mechanisms with multi drive linear motors (MDLMs) were proposed. The multi drive is a control method of linear motors that multi moving parts are individually driven on one stator part. Various configurations of parallel link mechanisms were constructed on the MDLMs were proposed. The proposed mechanisms have additional features of wide moving area in addition to the original characteristics of the parallel mechanisms such as rigid mechanisms, high precision and high speed. More over, they are suitable for force control because of low friction direct drive actuators. In this paper, kinematics and dynamics characteristics of 2-DOF (xy) and 3-DOF (xyθ) planar parallel link mechanisms were investigated. Singularity analysis and internal force control method of the 3-DOF with 4 moving parts redundant mechanism were derived. Condition of a dynamics decoupling and constant inertia design of the 2-DOF with 2 moving parts and 3-DOF with 4 moving parts were derived. Effectiveness of those analyses was confirmed by numerical simulation. Basic on the analysis, prototype of the 3-DOF with 4 moving parts parallel link mechanism was designed and developed.