Parallel mechanism
AssigneeMurata Machinery, Ltd.
InventorsTatsuhiko Nishida, Hideaki Nakanishi, Manabu Yamashita
Life of this patent
Estimating the term…
Abstract
A parallel mechanism includes a base portion, a bracket to which an end effecter is attached, a plurality of actuators attached to the base portion, a plurality of arms through which the plurality of actuators and the bracket are coupled together in parallel, and a control device arranged to control the actuators. When the end effecter in a stopped state is moved to a target position, the control device is arranged to control the actuators so that a level of acceleration at which the end effecter is accelerated is higher than a level of deceleration at which the end effecter is decelerated.
Claims13
A parallel mechanism comprising:
- a base portion;
- a bracket to which an end effecter is attached;
- a plurality of actuators attached to the base portion;
- a plurality of arms through which the plurality of actuators and the bracket are coupled together substantially in parallel;
- and
- a control device arranged to control the plurality of actuators;
- wherein
- when the end effecter, in a stopped state, is moved to a target position, the control device is arranged to control the actuators so that a level at which the end effecter is accelerated is higher than a level at which the end effecter is decelerated.
A parallel mechanism comprising:
- a base portion,
- a bracket to which an end effecter is rotatably attached;
- a plurality of links through which the base portion and the bracket are coupled together in parallel;
- a motor attached to the base portion;
- a turning shaft having one end connected to an output shaft of the motor and other end connected to the end effecter, and arranged to transmit a rotational driving force of the motor to the end effecter;
- and
- a control device arranged to control the motor;
- wherein
- the control device is arranged to control the motor so that when the turning shaft in a stopped state because angular speed of the motor is zero is rotated to a target rotation angle position, a rotational acceleration time required to increase the angular speed of the motor from zero to a maximum value is shorter than a rotational deceleration time required to reduce the angular speed of the motor from the maximum value to zero.
Dependencies are inferred from the claim text.