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  [in Japanese] Forward and Inverse Kinematics Calculation for Incompletely Restrained Type Parallel Wire Mechanism  [in Japanese]

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Author(s)

Abstract

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.

Journal

  • Journal of the Robotics Society of Japan

    Journal of the Robotics Society of Japan 20(1), 107-115, 2002-01-15

    The Robotics Society of Japan

References:  18

Cited by:  2

Codes

  • NII Article ID (NAID)
    10008212882
  • NII NACSIS-CAT ID (NCID)
    AN00141189
  • Text Lang
    JPN
  • Article Type
    Journal Article
  • ISSN
    02891824
  • NDL Article ID
    6042522
  • NDL Source Classification
    ZN11(科学技術--機械工学・工業)
  • NDL Call No.
    Z16-1325
  • Data Source
    CJP  CJPref  NDL  J-STAGE 
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