Abstract
A novel six-DOF articulated moving platform parallel robot that combines two parallel sub-mechanisms to tilt the MP directly is proposed. Each sub-mechanism has five degrees of freedom and can translate the MP in three directions and rotate the MP around two axes, eliminating the need for a separate mechanism to tilt the MP. All the passive pairs comprise spherical pairs for simplifying the mechanism’s overall design. The robot consists of two DELTA-like sub-mechanisms and a rotation-screw mechanism between each MP of the sub-mechanism. The mobility of a parallel robot was calculated by the locking and releasing method using the screw theory. The proposed mechanism was verified to realize six-DOF motion by a prototype model created by a 3D printer.
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This work was supported by JSPS KAKENHI Grant Number JP21K03987.
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Harada, T., Yase, H. (2023). Mobility Analysis of a Novel Six-DOF Parallel Robot with Additional Rotation and Plate Tilting Mechanisms. In: Okada, M. (eds) Advances in Mechanism and Machine Science. IFToMM WC 2023. Mechanisms and Machine Science, vol 147. Springer, Cham. https://doi.org/10.1007/978-3-031-45705-0_80
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DOI: https://doi.org/10.1007/978-3-031-45705-0_80
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