Development of Position-Orientation Decoupled Spatial In-Parallel Actuated Mechanisms with Six Degrees of Freedom
Yukio Takeda*, Kouji Kamiyama**, Yoshihisa Maki*,
Masaru Higuchi*, and Koichi Sugimoto*
*Department of Mechanical Sciences and Engineering, Tokyo Institute of Technology, 2-12-1 O-okayama, Meguro-ku, Tokyo 152-8552, Japan
**Honda Motor Co., Ltd.
We propose a new structure for spatial in-parallel actuated mechanisms with six degrees of freedom in which the output link’s position and orientation are decoupled. Number synthesis of the position submechanism, a partial mechanism for the position-orientation decoupled mechanism, was conducted, and fifteen mechanisms were clarified. Basic equations for kinematic analysis were derived for four of the obtained mechanisms, and procedures to analyze their forward/inverse displacement were investigated. Their workspaces and swing angles were numerically evaluated based on these equations. Experimental results using an experimental position-orientation decoupled mechanism were presented to support these theoretical results.
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