再構成可能なモジュラーハイブリッド・パラレルマニピュレータのトポロジ設計と位置解析

原文アブストラクト

In the modern days, manipulators are found in the automated assembly lines of industries that produce products in masses. These manipulators can be used only in one configuration, that is either serial or parallel. In this paper, a new module which has two degrees of freedom is introduced. By connecting the two and three modules in series, 4 and 6 DoF hybrid manipulators can be formed respectively. By erecting 3 modules in parallel and with some minor modifications, a 6 DoF parallel manipulator can be formed. Hence the manipulator is reconfigurable and can be used as hybrid or parallel manipulator by disassembling and assembling. The topology design, forward and inverse position analysis has been done for the two hybrid configurations and the parallel configuration. This manipulator can be used in industries where flexible manufacturing system is to be deployed. The three configurations of the parallel manipulator has been experimentally demonstrated using a graphical user interface (GUI) control through a computer.