Development of a novel asymmetrical designed redundantly actuated 3-dof spatial parallel mechanism with large workspace and high accuracy

研究成果の概要（和文): 特異フリーにモード変化を行い, 動作範囲を拡大する非対称冗長駆動パラレルロボットを提案した. 転置ヤコビ行列の小行列行列式を用いて, 数式計算に適した冗長駆動パラレルメカニズムの冗長性と特異性の計算方法を提案した. 対称冗長駆動ロボットはモード変化中に特異となるが, 非対称冗長駆動ロボットは特異とならずにモード変化が行えることを数式計算および数値計算例を用いて示した. モータ固定子間間隔, モータとロッド間対偶位置を可変とし, 各種条件でモード変化実験を行う試作機を開発した. ロボットのモードを識別し, モード間の状態遷移を考慮した制御ソフトウエアを開発実装し, 特異フリーにモード変化行うことを実機検証した. 研究成果の概要（英文）: A novel parallel mechanism which enlarges the workspace by singularity-free mode change is proposed. The proposed mechanism is inherited the design of Linear DELTA which has three degree-of-freedom translational moving plate driven by three linear actuators, in addition, extended it by redundantly actuation by four linear actuators and asymmetric design. New criterions about redundancy and singularity of redundantly actuated parallel mechanism using summation and product of determinants of minor matrices of the transposed Jacobian matrix are proposed. Redundantly actuation and asymmetric design enables singularity-free mode changes with loss redundancy but maintain non-singularity, that are evaluated by the proposed criterions. Numerical simulations demonstrate the singularity-free mode changes of the proposed mechanism. The singularities avoided mode changes were performed by newly developed prototype.研究種目：基盤研究(C) ; 研究期間：2012～2014; 課題番号：24560314; 研究分野：精密機械工学, パラレルメカニズム; 科研費の分科・細目