剛性チェーンを用いたパラレルキネマティクス位置決めシステム
Rigid chain in parallel kinematic positioning system
パラレルキネマティクス機構の駆動に剛性チェーン（Serapid社方式）を適用し、長ストローク・低精度作業向けの3座標マニピュレーションロボットの構成を提案した論文。
著者: M Kubrikov, I Pikalov, M Saramud
分類: cs.RO
原文アブストラクト
The article presents an analysis of the trends in the development of kinematic structures of modern machine-building technological equipment. The prospects of using machines with parallel kinematics in processing, measuring and handling equipment, their advantages and disadvantages are demonstrated. It is shown that it is inexpedient to use ball screw drives in machines with parallel kinematics, performing tasks of low accuracy, but with displacements of more than 3000 mm. The rigid chain system of the Serapid firm and the possibility of its use in machines with parallel kinematics are considered. A schematic solution of a three-coordinate manipulation robot based on parallel kinematics with drive mechanisms on rigid chains is proposed.