Title :
Parallel mechanism using passive pin joints with wide movable area
Author :
Okawa, Kazuya ; Okamura, Yoshihiro
Author_Institution :
Grad. Sch. of Eng., Chiba Univ., Chiba, Japan
Abstract :
This paper proposes a novel parallel mechanism with wide movable area. As for a general parallel mechanism, ball joints are usually used to it. The mechanism cannot move wide area because of angle limitation of the ball joints. Therefore, the mechanism that used passive pin joints instead of the ball joints is proposed. This paper describes the effectiveness of the proposed mechanism by investigation of `Transmission Index [1]´.
Keywords :
manipulator kinematics; variable structure systems; parallel mechanism; passive pin joints; transmission index; wide movable area; Compounds; End effectors; Indexes; Joints; Kinematics; Simulation; Ball Joint; Parallel Mechanism; Pin Joint; Singularity; Transmission Index;
Conference_Titel :
SICE Annual Conference 2010, Proceedings of
Conference_Location :
Taipei
Print_ISBN :
978-1-4244-7642-8
