{"title":"Workspace analysis of parallel mechanism with adjustable link parameters","authors":"W. Tanaka, T. Arai, K. Inoue, T. Takubo, Y. Mae","doi":"10.1109/ICAR.2005.1507413","DOIUrl":null,"url":null,"abstract":"Parallel mechanism has some good advantages, but small workspace is a big drawback (Merlet, 2000). We have proposed a parallel mechanism with adjustable link parameters in the previous paper (Arai and Takayama, 2000; Arai and Koseki, 2004, 1998). In this mechanism, there is a need to adjust the suitable link parameters for the required workspace for certain task. In this paper, we discuss the workspace and voids of linearly actuated parallel mechanism with adjustable link parameters. We divide the mechanism into normal and transfigured type and compare these parameters with each other in order to analyze the properties of mechanism at different positions","PeriodicalId":428475,"journal":{"name":"ICAR '05. Proceedings., 12th International Conference on Advanced Robotics, 2005.","volume":"36 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2005-07-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"7","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"ICAR '05. Proceedings., 12th International Conference on Advanced Robotics, 2005.","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICAR.2005.1507413","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 7
Abstract
Parallel mechanism has some good advantages, but small workspace is a big drawback (Merlet, 2000). We have proposed a parallel mechanism with adjustable link parameters in the previous paper (Arai and Takayama, 2000; Arai and Koseki, 2004, 1998). In this mechanism, there is a need to adjust the suitable link parameters for the required workspace for certain task. In this paper, we discuss the workspace and voids of linearly actuated parallel mechanism with adjustable link parameters. We divide the mechanism into normal and transfigured type and compare these parameters with each other in order to analyze the properties of mechanism at different positions
并联机构有一些优点，但工作空间小是一个很大的缺点(Merlet, 2000)。我们在之前的论文中提出了一种连杆参数可调的并联机构(Arai and Takayama, 2000;Arai and Koseki, 2004, 1998)。在这种机制中，需要为特定任务所需的工作空间调整合适的链接参数。本文讨论了连杆参数可调的线性驱动并联机构的工作空间和空隙。为了分析机构在不同位置的性能，我们将机构分为正常型和变形型，并对这些参数进行了比较
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