６自由度高速パラレルロボットＨＥＸＡの開発

• 内山 勝

  東北大学工学部

• 飯村 憲一

  東北大学工学部

• 多羅尾 進

  東北大学工学部

• ピエロ フランソワ

  モンペリエII大学情報, ロボット及びマイクロエレクトロニクス研究所

• 外山 修

  豊田工機株式会社

書誌事項

タイトル別名

• Development of a 6-DOF High-Speed Parallel Robot HEXA.

抄録

The HEXA robot is a very fast 6-DOF parallel robot. It uses a parallel mechanism, called HEXA mechanism, which consists of a kinematic chain with five closed loops and is driven only by actuators at its base. This robot consists of six very simple elementary kinematic chains, each of which has only one active joint driven by a powerful DD motor. The moving parts of this robot is made very light at no expense of its stiffness. Therefore, this robot can move very fast and precisely. In this paper, we present development of a prototype of this robot. We choose a so-called Adept motion as a benchmark to measure its capability of fast motion. Experimental results show that the prototype robot can achieve the Adept motion in 0.465 [s/cycle] and prove that the HEXA robot is suited for very fast motion.

収録刊行物

• 日本ロボット学会誌

  日本ロボット学会誌 12 (3), 451-458, 1994

  一般社団法人 日本ロボット学会

キーワード

• Parallel Robot
• DD Robot
• Very Fast Robot
• Adept Motion
• Path Planning

詳細情報

• CRID: 1390282679701895168
• NII論文ID: 10006719742
• NII書誌ID: AN00141189
• DOI: 10.7210/jrsj.12.451
• ISSN: 18847145
• ISSN: 02891824
• ISSN: http://id.crossref.org/issn/02891824
• 本文言語コード: ja
• データソース種別:
  • JaLC
  • Crossref
  • CiNii Articles
• 抄録ライセンスフラグ: 使用不可