JP2012096337A - Parallel mechanism using a plurality of elastic wires having rigidity - Google Patents

Abstract

PROBLEM TO BE SOLVED: To solve a problem in a conventional multi-freedom mechanism such as a parallel mechanism that the structure is complicated in general, and also flexibility is low.SOLUTION: A multi-freedom mechanism carrying out flexible movement that has been impossible in a conventional parallel mechanism is provided by rationally using a plurality of elastic wires having rigidity to configure a parallel mechanism. Namely, a plurality of single elastic wires 1 with circular cross sections and having rigidity are connected by placing them in the same arrangement in each fulcrum position of a driven side member 2 and a driving side member 3, and a middle support member 4 supporting the elastic wires so as to move in an axial direction and to rotate around the axial direction while maintaining the arrangement of the elastic wires as seen from a cross section direction is provided between the driven side member and the driving side member.

Description

  The present invention relates to a multi-degree-of-freedom mechanism that can be used in various fields related to general industries, test machines, aerospace, medical welfare, micromachines, amusement facilities, and the like, and more particularly, to a parallel mechanism using a plurality of rigid elastic wires.

  The parallel mechanism as a multi-degree-of-freedom mechanism is used in many fields including a flight simulator and a play facility, and its application examples are very many.

  As a parallel mechanism, six telescopic actuators are arranged between a base and an end effector such as a plate via a joint having a spherical bearing so as to perform a motion of six degrees of freedom. A telescopic parallel mechanism called a Stewart platform is widely known. Other types of parallel mechanisms include a rotary type that uses a rotary actuator, a linear type that uses a fixed linear actuator, an elastic wire type that uses multiple elastic wires, and a hybrid type that uses elastic wires and links. Etc. are known. Various methods such as an electric method, a hydraulic method, and a pneumatic method are used as driving methods for the actuators used for these.

  Patent Document 1 shows a conventional example of a telescopic parallel mechanism, Patent Document 2 shows a conventional example of a rotary parallel mechanism, and Patent Document 3 shows a conventional example of a linear motion parallel mechanism.

  In each of these types of parallel mechanisms, a rigid link or a telescopic actuator capable of varying the distance between the fulcrums is connected to each of the fulcrums attached to the driven member and the fulcrums of the drive member. This is a system in which the position and posture of the driven side member are controlled by moving the position of the fulcrum of the driven side member with a rigid link or a telescopic actuator.

  Patent Document 4 shows a conventional example of a parallel mechanism using a plurality of elastic wires. This parallel mechanism is a hybrid type using a rigid body link in addition to an elastic wire. In this parallel mechanism, an elastic wire is connected between a plurality of fulcrums attached to the driven side member and a plurality of fulcrums of the driving side member, and the length of the elastic wire is changed by an actuator of the driving side member, thereby In this method, the position and posture of the driven member are controlled by moving the position of the fulcrum of the driving member. In this case, each operation for changing the attitude of the driven side member is performed while maintaining a state in which tension is always applied to all the elastic wires.

  On the other hand, as a conventional mechanism using one or a plurality of rigid elastic wires, in addition to the above-mentioned Patent Document 4, the bending mechanism of the distal end portion in the endoscope as shown in Patent Document 5 and Patent Document 6 In addition, a joint driving mechanism of a robot hand as disclosed in Patent Document 7 is known.

JP-A-8-300200 JP 2001-38551 A JP 2001-254798 A JP 2007-209572 A JP 2003-126024 A JP 2003-204926 A JP 2006-123149 A

The parallel mechanism exemplified in Patent Documents 1-3, that is, expansion and contraction that can change the distance between the rigid links or the fulcrums between the fulcrums attached to the driven member and the fulcrums of the drive member. The configuration in which the type actuators are connected has the following problems.
1. Generally, the structure is complicated.
2. Each fulcrum requires a highly flexible bearing represented by a spherical bearing, and generally involves rotation and slipping, which complicates the structure. As a result, lubrication problems, backlash problems and durability problems are likely to occur, and the cost is high.
3. The number of rigid links or telescopic actuators for obtaining the degree of freedom (generally 6 degrees of freedom) of the driven side member is mathematically determined and is generally 6 so that both 6-axis motions Called. If the number is less than that, the posture cannot be maintained, and if it is 6 or more, the mechanism becomes redundant and the control becomes difficult at each stage.
4). There is no flexibility as a whole mechanism including a rigid link and a telescopic actuator as a drive mechanism.

  On the other hand, the mechanism using the elastic wire exemplified in Patent Documents 4-7 can constitute a flexible mechanism or structure, whether it is a parallel mechanism or a serial mechanism. The position and posture control is a method of changing the distance between each fulcrum by pulling / relaxing the elastic wire, and the rigidity in the tensile direction of the elastic wire is used, but the rigidity in the compression, bending and twisting directions is used. Is not used, and therefore, the elastic wire alone is not spatially independent.

  Therefore, in the present invention, the above problems are solved, the spatial position / posture is maintained with only a plurality of elastic wires, and it is self-supporting, and the elastic wires are flexible by utilizing the tension, compression, bending, and torsional rigidity. The object is to provide a parallel mechanism that can move.

  In the present invention, in order to solve the above-described problem, a plurality of single-wire elastic wires having rigidity and a circular cross section are connected so as to be arranged at the same position at each fulcrum position of the driven side member and the driving side member. The elastic wire is supported between the driven side member and the driven side member so that the elastic wire can be moved in the axial direction and rotated about the axial direction while maintaining the arrangement when viewed from the cross-sectional direction. A parallel mechanism having a structure in which an intermediate supporting member is provided is proposed.

  Further, in the present invention, in order to solve the above problems, a plurality of single-wire elastic wires having rigidity and a circular cross section are arranged in a similar manner at each fulcrum position of the driven side member and the driving side member. Connected, and between the driven side member and the driven side member, the elastic wire can be moved in the axial direction and rotated around the axial direction while maintaining the similar arrangement as seen from the cross-sectional direction. The parallel mechanism of the structure provided with the intermediate | middle support member which supports is proposed.

  The present invention proposes a parallel mechanism using a plurality of rigid elastic wires in which the driving side member is configured as a driven side member of another parallel mechanism.

  Further, in the present invention, in the above configuration, the drive side member is provided for each elastic wire, and uses a plurality of rigid elastic wires configured by a plurality of drive devices that can move the elastic wire forward and backward and torsionally rotate. Proposed parallel mechanism.

  In the present invention, the intermediate support member of the parallel mechanism is airtightly attached to the wall of the sealed chamber in the above configuration, and the driven side member is positioned in the sealed chamber and the driving side member is positioned outside the sealed chamber. A closed indoor working mechanism is proposed.

  According to the present invention, in the above-described configuration, a sealed chamber working mechanism is proposed in which the sealed chamber is a vacuum or special environment material testing chamber.

  In the parallel mechanism of the present invention, the intermediate support member is attached to an appropriate support portion disposed between the driven side member and the driving side member. In this state, the position and posture of the driven side member are independently maintained by the rigidity of the elastic wire extending from the driving side member through the intermediate support member.

  When the drive-side member is configured as a driven-side member of another parallel mechanism, the drive-side member is moved from the initial state in the axial direction, that is, the direction in which the elastic wire extends, while maintaining the posture. As a result, all the elastic wires are supported by the intermediate support member and moved by the same distance in the forward or backward direction, so that the driven member moves forward or backward while maintaining the initial state posture.

  Next, in the initial state, when the driving side member is tilted in an appropriate direction, if the distance to the intermediate support member is reduced on the driving side member side due to this tilting, the corresponding elastic wire becomes the driven side member. On the other hand, when the distance from the intermediate support member is increased on the driving side member side due to the inclination, the corresponding elastic wire acts in the direction of pulling the driven side member. The member is inclined in the same direction as the inclination direction of the drive side member.

  Next, in the initial state, when the drive side member is rotated by an appropriate angle around the axial direction, all the elastic wires move along the rotation locus, whereby all the elastic wires are twisted in the rotational direction. Since all the elastic wires are twisted in the same direction as described above, the driven side member is driven by all the elastic wires and rotates around the axial direction in the same direction as the driving side member.

  The operation in each direction described above can be performed in the same manner even when the drive side member is provided for each elastic wire and is configured by a plurality of drive devices in which the elastic wire can be advanced and retracted and twisted.

  In addition, the operations in each direction described above can be performed in combination, and thus, a flexible motion can be performed with multiple degrees of freedom. The flexible movement is realized by an elastic wire having rigidity, and the elastic wire, the driving side member and the driven side member need only be fixed, and there is no relative rotation or sliding, so no bearing is required. is there.

  From the above, in the present invention, the structure is greatly simplified as compared with the conventional parallel mechanism.

  In addition, complicated bearing elements such as spherical bearings required by the conventional multi-degree-of-freedom parallel mechanism are no longer necessary. This also contributes to the simplification of the structure, reduces costs, has no play, and is durable. Is also expensive.

  In the present invention, the number of elastic wires is two or more, and the rigidity can be further increased by increasing the number.

  Arrangement | positioning of the some elastic wire in each fulcrum position of a to-be-driven side member and a drive side member is appropriate, and the freedom degree in design is high.

  In the parallel mechanism of the present invention, the arrangement of the elastic wire connection at each fulcrum position of the driven side member and the driving side member is basically the same as the arrangement of the elastic wire support in the intermediate support member. As compared with the case of the same arrangement, a similar arrangement can be used in a case where the movement is allowed to be limited.

FIG. 1 is a perspective view showing an embodiment of basic components constituting the parallel mechanism of the present invention. FIG. 2 is a schematic front view showing an embodiment of basic components constituting the parallel mechanism of the present invention together with other components. 3A and 3B show a first embodiment of the parallel mechanism of the present invention. FIG. 3A is a schematic front view and FIG. 3B is a schematic perspective view. 4 (a) and 4 (b) are schematic front views showing a first operation of the first embodiment of the parallel mechanism of the present invention. FIGS. 5A and 5B are schematic front views showing a second operation of the first embodiment of the parallel mechanism of the present invention. 6 (a) and 6 (b) are schematic front views showing a third operation of the first embodiment of the parallel mechanism of the present invention, and (c) and (d) are (a) and (a), respectively. It is the typical top view which looked at (b) from the upper part. FIG. 7 shows a second embodiment of the parallel mechanism of the present invention, where (a) is a schematic front view, (b) is a schematic perspective view, and (c) is a view of (a) from above. It is a typical top view. FIGS. 8A and 8B are schematic front views showing a first operation of the second embodiment of the parallel mechanism of the present invention. FIGS. 9A and 9B are schematic front views showing the second operation of the second embodiment of the parallel mechanism of the present invention. 10 (a) and 10 (b) are schematic front views showing a third operation of the second embodiment of the parallel mechanism of the present invention, and (c) and (d) are (a) and (a), respectively. It is the typical top view which looked at (b) from the upper part. FIGS. 11A and 11B are partial cross-sectional schematic front views showing the configuration and operation of the sealed indoor working mechanism configured by using the first embodiment of the parallel mechanism of the present invention. 12 (a) and 12 (b) are partial cross-sectional schematic front views showing the configuration and operation of a sealed indoor working mechanism configured using the second embodiment of the parallel mechanism of the present invention. FIGS. 13 (a) and 13 (b) are perspective views showing other embodiments of the basic components constituting the parallel mechanism of the present invention.

Next, an embodiment of the parallel mechanism of the present invention will be described with reference to the accompanying drawings.
First, FIG. 1 shows basic constituent elements constituting a parallel mechanism according to the present invention. The basic constituent elements are rigid and a plurality of single-wire elastic wires 1 having a circular cross section are connected to a driven member 2. And at the respective fulcrum positions of the drive side member 3 are connected so as to have the same arrangement. The connection of the elastic wire 1 to each fulcrum of the driven side member 2 and the driving side member 3 is merely a fixed connection, and it is not necessary to provide relative rotation or relative slip. For this reason, the bearing of complicated structure, such as a spherical bearing required with the conventional parallel mechanism, is unnecessary. In addition to the above-described configuration, the basic component of the present invention moves between the driven side member 2 and the driving side member 3 in the axial direction while maintaining the arrangement when the elastic wire 1 is viewed from the cross-sectional direction. And it is the structure which provided the intermediate | middle support member 4 supported rotatably around an axial direction.

  In the present invention, the elastic wire 1 has a rigidity capable of autonomously supporting a preset load, that is, a rigidity in the direction of tension, compression, bending and torsion, and is a single wire having a circular cross section. Non-ferrous metals, non-metals such as synthetic resins and composite materials can be selected as appropriate.

  In this embodiment, the number of elastic wires 1 is five, and these elastic wires 1 are arranged so as to correspond to the respective apexes of a regular pentagon when viewed from the cross-sectional direction. 3, the intermediate support member 4 is provided with a guide hole 5 as a member that supports the elastic wire 1 so as to be movable in the axial direction and rotatable about the axial direction while maintaining the above-described arrangement.

  As described above, the intermediate support member 4 can be configured in a straight line as long as the elastic wire 1 can be supported so as to be movable in the axial direction and rotatable about the axial direction while maintaining the arrangement. However, it is also possible to have a curved configuration instead of a straight line. In addition, the intermediate support member 4 can be made of a rigid material, but can also be made of a flexible material.

  In this embodiment, the driven side member 2 and the driving side member 3 are configured as an annular plate, but the shape and the like are appropriate. Moreover, although the intermediate support member 4 is configured in a sleeve shape having an axial through hole 6, an appropriate configuration without the through hole 6 may be employed.

  In the parallel mechanism of the present invention, in such a basic component, the intermediate support member 4 is used by being attached to an appropriate support portion 7 disposed between the driven side member 2 and the driving side member 3, and the driving side member 3 is used. It can be operated as a parallel mechanism by being driven by an appropriate drive mechanism 8. The driving mechanism 8 may be manually operated, and the driving side member 3 may be manually moved so that the driven side member 2 is in a desired position / posture while observing the movement of the driven side member 2. Is possible.

  Next, a specific embodiment for operating the parallel mechanism of the present invention will be described. First, FIG. 3 to FIG. 6 show the first embodiment. In this embodiment, the drive side member 3 is The other parallel mechanism 8 is configured as a driven side member, and the parallel mechanism 8 corresponds to the drive mechanism described above.

  This parallel mechanism 8 is a telescopic parallel mechanism called a Stuart platform described as the prior art, and includes a driving side member 9 and a driven side member, that is, the driving side member 3 in the parallel mechanism of the present invention. In the middle, six telescopic actuators 11 are arranged via a joint 10 having a spherical bearing so as to perform a motion with six degrees of freedom. Since the configuration and operation of this parallel mechanism are well known, detailed description thereof is omitted. In addition, in FIG.3 (b), the support part 7 is drawn typically.

  In the above configuration, the drive-side member 3 is moved in the axial direction from the state shown in FIG. 4A by the other parallel mechanism 8 while maintaining its posture as shown in FIG. When moved to, all the elastic wires 1 are supported by the guide holes 5 of the intermediate support member 4 and are lowered, so that the driven member 2 is lowered while maintaining the posture of (a). Moreover, it can be made to operate | move from the state of (b) to the state of (a) by reverse operation | movement.

  Next, in the state shown in FIG. 5A, when the drive side member 3 is tilted as shown in FIG. 5B by another parallel mechanism 8, the drive side member 3 side is moved to the intermediate support member 4 by the tilt. The elastic wire 1 corresponding to the side where the distance becomes closer, that is, the elastic wire 1 on the left side in the figure acts in the direction of pushing the corresponding portion of the driven side member 2. On the other hand, due to the inclination, the elastic wire 1 corresponding to the side where the distance from the intermediate support member 4 is increased on the driving side member 3 side, that is, the elastic wire 1 on the right side in the figure pulls the corresponding portion of the driven side member 2. Therefore, the driven side member 2 is inclined in the same direction as the inclination direction of the driving side member 3.

  Next, in the state shown in FIG. 6A, when the drive side member 3 is appropriately rotated around the axial direction by an angle θ, all the elastic wires 1 move along the rotation trajectory, thereby all the elastic wires. 1 is twisted in the direction of rotation. Since all the elastic wires 1 are twisted in the same direction as described above, the driven-side member 2 is driven by all the elastic wires 1 and, as shown in FIG. And the same angle θ in the same direction. In addition, in (b), the enlarged view of the part enclosed with the circle of the dashed-two dotted line is shown.

  The operations in the above directions can be performed in combination, and thus a flexible motion with multiple degrees of freedom can be performed.

  In the present invention, the position and orientation of the driven member 2 can be accurately controlled by a control method such as teaching. An example of this control method will be described below.

  First, the six telescopic actuators 11 used in the parallel mechanism of the drive mechanism 8 in FIG. 3 include an electric system, a hydraulic system, a pneumatic system, and a hybrid system combining them. Usually, these actuators 11 are provided with a position detector for detecting the amount of displacement of the telescopic rod, and a position control system using a position signal as a feedback signal is configured. The telescopic rod of each actuator is driven following the position command signal from the computer to each actuator 11. As a result, the posture control of the driving member 3 is accurately performed, and finally the position and posture of the driven member 2 are accurately controlled.

  In addition to the position detector, a load detector for detecting a load applied to the rod is attached to the expansion / contraction rod of each actuator 11, or a load is detected by attaching a strain gauge, and this load signal is detected to detect each load signal. The load monitoring or load control of the actuator 11 can also be performed.

  The position control system of the parallel mechanism 8 is constituted by each actuator 11 equipped with the detector for detecting the position and load described above, and is stationary at, for example, the neutral position. Next, a force that moves the driving member 3 in a desired direction by a human hand is applied so that the driven member 2 takes a desired movement and posture. At this time, a pushing or pulling load is applied to each actuator 11. This load is detected by a load detector or a strain gauge, and at the same time, it is used as a displacement command signal to the position control system. Then, the telescopic rod of each actuator 11 is displaced in the shortening direction or the extending direction in accordance with the pushing or pulling load. At this time, the human hand feels as if the drive member 3 is moving through the spring.

  The position signal of the telescopic rod of each actuator 11 at this time is stored in the storage device. Then, when this position signal is reproduced as a position command signal and each actuator 11 in which the position control system is configured is driven, the operation of the drive side member 3 when it is manually moved first is faithfully and accurately reproduced. Can do. Therefore, as a result, the movement of the position and posture of the driven member 2 can be accurately and faithfully reproduced. Thus, playback-type teaching can be realized.

  In the above method, the telescopic rod is moved using the load signal of the telescopic actuator 11 when teaching is performed. However, in the case of a hydraulic or pneumatic cylinder, if the hydraulic pressure or pneumatic pressure is reduced to zero, the rod moves almost without resistance. In this state, the drive member 3 is manually moved, the position signals of the respective expansion / contraction actuators 11 at that time are stored in the storage device, and the position signal is reproduced to drive the hydraulic or pneumatic cylinder as a position command signal. Even teaching can be realized.

  Next, FIGS. 7 to 10 show a second embodiment in which the parallel mechanism of the present invention is operated. The same reference numerals are given to the same components as those in the first embodiment, and the details will be described. The detailed explanation is omitted. In this embodiment, the drive-side member 3 is configured by a plurality of drive devices 13 that are provided for each elastic wire 1 and project from the base 12 so that each elastic wire 1 can be advanced and retracted and twisted. ing. In this embodiment, the number of elastic wires 1 is three, and these elastic wires 1 are arranged so as to correspond to the vertices of an equilateral triangle when viewed from the cross-sectional direction. 3 is fixed to three drive devices 13. As in the first embodiment, the intermediate support member 4 is provided with a guide hole 5 for supporting the elastic wire 1 so as to move in the axial direction and rotate around the axial direction while maintaining the arrangement. ing. In FIG. 7B, the support portion 7 is schematically drawn as in FIG. 3B.

  In the above configuration, for example, when all the driving devices 13 are shortened by an equal distance from the state of FIG. 8A, the driven side members 2 are pulled by all the elastic wires 1 and are shown in FIG. 8B. So that the posture is maintained. On the contrary, in the state of FIG. 8B, when all the driving devices 13 are extended by the same distance, the driven side member 2 is pushed by all the elastic wires 1, and as shown in FIG. 8A. Ascend while maintaining posture.

  Next, in the state of FIG. 9A, when the drive device 13 shown on the right side in FIG. 9 is shortened as shown by the arrow in the figure, only the right elastic wire 1 in FIG. 9 is pulled, the driven-side member 2 inclines in the right direction as shown in FIG. 9A, and further shortens so that the inclination angle of the driven-side member 2 is changed to FIG. 9B. As shown in FIG.

  When the expansion / contraction speed in the driving device 13 is not changed, the left driving device 13 can be extended together with the shortening operation of the right driving device 13 in order to shorten the time to reach a predetermined inclination angle.

  In this way, among the plurality of driving devices 13 provided corresponding to the fulcrum positions of the driving side member 3, by selecting the driving device 13 to be extended or shortened, the driven side member 2 is inclined in an appropriate direction. Can do.

Next, in the state shown in FIG. 10A, when all the three drive devices 13 constituting the drive side member 3 are rotated by the same angle θ ₁ in the same direction, all the elastic wires 1 are twisted in the rotation direction. It is done. Since all the elastic wires 1 are twisted in the same direction as described above, the driven member 2 is driven by all the elastic wires 1 and has an angle θ ₂ around the axial direction as shown in FIG. Only rotate. In addition, in (b), the enlarged view of the part enclosed with the circle of the dashed-two dotted line is shown.

  Also in this embodiment, the operations in the above directions can be performed in combination, and thus a flexible motion with multiple degrees of freedom can be performed. The position and orientation of the driven member 2 can be accurately controlled by a control method such as teaching. An example of this control method will be described below.

  The drive member 3 of the drive device 13 shown in FIG. 7 corresponds to an expansion / contraction / rotation rod of an actuator having a function of torsion that is expansion / contraction and rotation around an axis. These driving methods include an electric method, a hydraulic method, a pneumatic method, and a hybrid method combining them. Usually, a position detector for detecting the amount of expansion and contraction of the rod and an angle detector for detecting the rotation angle of the rod are attached to control the position and angle of the rod.

  In addition to the position sensor and angle sensor, a load sensor or strain gauge that detects compression / tensile force applied to the rod, and a torque detector that detects torsion torque applied to the rod are attached to monitor or control the load and torque. Torque control can also be performed.

  The drive device 13 is configured by the actuator equipped with the above-described detector for detecting the position, angle, load, and torque, and is kept stationary, for example, at the neutral position by position control and angle control. Next, by pushing, pulling, or twisting the rod tip of each actuator, which is the driving member 3 of the driving device 13, by hand so that the driven member 2 is in the desired position / posture, the pushing direction or pulling Apply directional force and torsional torque. At this time, the load detector and the torque detector of each actuator detect the load and torque applied from the hand, and at the same time, use the load signal and the torque signal as command signals to the position control system and the angle control system, respectively. Then, the rod of the actuator performs expansion and contraction and rotation operations according to the load and torque signal, and performs the expansion and contraction operation and rotation operations according to the force and torque applied from the hand. At this time, the human hand feels as if moving the rod through the spring.

  The position signal and angle signal of each actuator telescopic rod at this time are stored in the storage device. Then, when this position signal / angle signal is reproduced as a position command signal / angle command signal and each actuator comprising the position control system / angle control system is driven, each drive side member 3 when it is manually moved first. Can be reproduced faithfully and accurately. Therefore, as a result, the movement of the position and posture of the driven member 2 can be accurately and faithfully reproduced. Thus, playback-type teaching can be realized.

  In the first and second embodiments described above, the driven side member 2 and the driving side member 3 are configured as an annular plate, and the intermediate support member 4 has an axial through hole 6. In such a configuration, it can be used as a means for inserting a cable for a sensor, a motor or another purpose through a hole in the through hole 6 or the annular plate. it can.

  FIGS. 11 (a), 11 (b), 12 (a), and 12 (b) show work in a sealed room constructed by using the first and second embodiments of the parallel mechanism of the present invention, respectively. This mechanism shows a mechanism, and in this sealed chamber working mechanism, the intermediate support member 4 is attached to the wall 15 of the sealed chamber 14, the driven side member 2 is inside the sealed chamber 14, and the driving side member is outside the sealed chamber 14. 3 is arranged. In this case, the intermediate support member 4 is configured to be able to maintain airtightness, and the guide hole 5 that supports the elastic wire 1 is also configured to be able to maintain airtightness.

  In such a configuration, a torsion test can be performed on the material test piece 16 in a state where the inside of the sealed chamber 14 is maintained in a vacuum or a special environment, for example, as shown in FIG. . Although the figure shows the case of the torsion test, not only the torsion test but also the tension / compression test and the bending test can be performed by using the movements shown in FIGS. 4, 5, 8 and 9. Furthermore, a test in which these are synthesized can be performed.

  Next, FIGS. 13A and 13B show another embodiment of the basic components constituting the parallel mechanism of the present invention. In this embodiment, the driven side member 2 and the driving side member are shown. The arrangement of the connection of the elastic wire 1 at each fulcrum position 3 and the arrangement of the support of the elastic wire 1 in the intermediate support member 4 are configured as similar positions. That is, in (a), the arrangement on the driving side member 3 and the intermediate support member 4 is the same arrangement, and the arrangement on the driven side member 2 is a similar arrangement larger than those arrangements, and (b) ), The arrangement of the driven side member 2 and the driving side member 3 is the same, and the arrangement of the intermediate support member 4 is a similar arrangement smaller than those arrangements.

  In these configurations, the elastic wire 1 extending from the intermediate support member 4 to the driven side member 2 or the driving side member 3 has a portion that bends in the enlargement or reduction direction. The movement may be limited, such as narrowing, but it is applicable to applications that allow this.

  As described above, the parallel mechanism of the present invention is configured by rationally using a plurality of rigid elastic wires, thereby enabling flexible movement that was impossible with the conventional parallel mechanism. The mechanism is provided and can be used in various fields related to general industries, testing machines, aerospace, medical welfare, micromachines, amusement facilities, and the like.

DESCRIPTION OF SYMBOLS 1 Elastic wire 2 Driven side member 3 Drive side member 4 Intermediate support member 5 Guide hole 6 Through hole 7 Support part 8 Drive mechanism (other parallel mechanism)
9 Drive side member 10 Joint 11 Telescopic actuator 12 Base 13 Drive device 14 Sealed chamber 15 Wall 16 Material test piece

Claims (6)

A plurality of single-wire elastic wires having rigidity and a circular cross section are connected so as to be in the same arrangement at each fulcrum position of the driven side member and the driving side member, and the driven side member and the An intermediate support member is provided between the drive-side members to support the elastic wire so that the elastic wire can be moved in the axial direction and rotated about the axial direction while maintaining the arrangement when viewed from the cross-sectional direction. A parallel mechanism using a plurality of elastic wires having rigidity. A plurality of single-wire elastic wires having rigidity and a circular cross section are connected so as to be arranged in a similar manner at each fulcrum position of the driven side member and the driving side member, and the driven side member and the An intermediate support member is provided between the drive-side members to support the elastic wire so as to move in the axial direction and rotate around the axial direction while maintaining the similar arrangement when viewed from the cross-sectional direction. Parallel mechanism using multiple elastic wires with the characteristic rigidity. 3. The parallel mechanism using a plurality of elastic wires having rigidity according to claim 1, wherein the driving side member is configured as a driven side member of another parallel mechanism. 3. The plurality of elastic wires having rigidity according to claim 1 or 2, wherein the driving side member is provided for each elastic wire, and is constituted by a plurality of driving devices capable of moving the elastic wire forward and backward and torsionally rotating. Parallel mechanism using The intermediate support member of the parallel mechanism according to any one of claims 1 to 4 is hermetically attached to the wall of the sealed chamber, the driven side member is positioned in the sealed chamber, and the driving side member is positioned outside the sealed chamber. A sealed indoor working mechanism. The sealed chamber working mechanism according to claim 5, wherein the sealed chamber is a material test chamber in a vacuum or a special environment.

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