ARITHMETIC UNIT FOR MOTION POSTURE OF PARALLEL LINK MECHANISM

摘要

PURPOSE:To find out the oscillation posture of a motion base at a high speed. CONSTITUTION:An n-degree of freedom parallel link mechanism constituted of supporting a motion base on a fixed base by (n) links whose length can be optionally changed has a virtual mechanism expressing a real link mechanism as a numerical model. The virtual mechanism for finding out a motion base position/posture x(t) by integrating a motion base position/posture differential variation x'(t) obtained by multiplying a link length differential variation l'(x) by a reverse Jacobian matrix j<-1> (x(t)) and calculating virtual link length l(t) from the position/posture x(t) is characteristically provided with an arithmetic unit for adopting the position/posture xd(t) of the motion base obtained by virtually computing the virtual mechanism as practical position/posture by using a value obtained by multiplying a value obtained by subtracting the virtual link length l(t) calculated by a virtual link mechanism from link length ld(t) at time (t) by a constant K and adding the differential value ld'(t) of the link length ld(t) to the multiplied value.