Characteristic Evaluation and Comparison of Robotic Mechanisms

摘要

This paper compared and evaluated several kinds of representative robotic mechanisms based on static characteristics. Especially, open-loop mechanisms and two kinds of closed-loop mechanisms which are parallel crank mechanisms were adopted as the representative robotic mechanisms. On the characteristic comparison of the robotic mechanisms, the previous research had been carried out for the condition under which the configurations of the mechanisms were limited to a certain form. However, static characteristics of the robots are greatly changed by the mechanism configurations. Therefore, this paper paid special attention to the changes of each mechanism characteristic by these configurations. Particularly, geometrical characteristics, strength characteristics and characteristics based on input/output displacement of those robotic mechanisms were compared and evaluated. As a result, the superiority or inferiority in the characteristics of these robotic mechanisms was successfully revealed.