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Published in:
2012 | OriginalPaper | Chapter
Analysis of Motion Space for Modified Screwdrive Bending Mechanism
Author : Chiharu Ishii
Published in: Advances in Automation and Robotics, Vol. 2
Publisher: Springer Berlin Heidelberg
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The purpose of this paper is to extend the motion space of a new screwdrive mechanism, termed Double-Screw-Drive (DSD) mechanism, which was developed by the author so far. To this end, the former DSD mechanism was improved so that the degree of freedom of motion of the tip position is extended, and new DSD mechanism is proposed. In order to control bending motion of the new DSD mechanism, inverse kinematics problem is considered. Namely, equations which give the amount of rotations of each linkage are derived. In addition, using the derived equations, the motion space of the tip position is clarified by software analysis.