Selection of Kinematic Solutions and Motion Characteristics of the Parallel Mechanism

摘要

Authors are developing the Micro Motion Parallel Mechanism using the area nearby the Under Singularity. It can accurately control a position and an orientation. However, this mechanism has two kinematic solutions in the effective range of an actuator. In this report, we show that a reduced scale of the mechanism differs by kinematic solutions. Therefore, a fine or coarse resolution can be chosen by a selection of these solutions.