| 日 時： | 2019年1月21日(月) 17:00～18:30 |
| 会 場： | 東京工業大学 大岡山キャンパス 本館4 階第一会議室 http://www.titech.ac.jp/maps |
| 題 目： | From planar to spatial mechanisms. Some design criteria of parallel robots |
| 講 師： | Prof. Alfonso Hernandez Frias and Assoc. Prof. Victor Petuya, Department of Mechanical Engineering of the University of the Basque Country at the Faculty of Engineering of Bilbao, Spain |
| 概 要： | The kinematic radiography of a machine is a mechanism, and a mechanism is nothing more than a set of geometric constraints. From this approach, it is easier to present the concept of mobility applied to a mechanism, to a kinematic pair, or to an element of a mechanism. In fact, there is a very special element in a mechanism that is the coupler, end-effector or mobile platform, which is the one that define the application of the mechanism. But, to know the number of degrees of freedom of the end-effector is not enough. More complete information about its motion capability is given by the so-called motion pattern. The motion pattern is, in general, an instantaneous characteristic. It depends on the mobile platform pose. However, the morphological or structural synthesis allows designing parallel manipulators with permanent motion pattern along the workspace, which is a great technical benefit. A singularity analysis detects those configurations where the robot can suffer a loss of local mobility, the blocking of an element, or losing control. Except for very particular applications, singularities are non-desired configurations. Therefore, the job of the engineer is oriented to size the robot so that it operates in a wide, regular and free of singularities workspace. Using the GIM software (http://www.ehu.eus/compmech/software), some planar and spatial mechanisms will be modelled to illustrate the theoretical concepts revised during the lecture. |