{"id":355,"date":"2024-02-21T13:47:55","date_gmt":"2024-02-21T04:47:55","guid":{"rendered":"http:\/\/www.msd.mech.e.titech.ac.jp\/jp\/?page_id=355"},"modified":"2024-02-21T14:05:39","modified_gmt":"2024-02-21T05:05:39","slug":"%e3%83%ad%e3%83%9c%e3%83%83%e3%83%88%e6%a9%9f%e6%a7%8b%e3%81%a8%e3%81%9d%e3%81%ae%e8%a6%81%e7%b4%a0%e3%83%bb%e5%88%b6%e5%be%a1%e6%89%8b%e6%b3%95%e3%81%ae%e9%96%8b%e7%99%ba","status":"publish","type":"page","link":"https:\/\/www.msd.mech.eng.isct.ac.jp\/jp\/%e3%83%ad%e3%83%9c%e3%83%83%e3%83%88%e6%a9%9f%e6%a7%8b%e3%81%a8%e3%81%9d%e3%81%ae%e8%a6%81%e7%b4%a0%e3%83%bb%e5%88%b6%e5%be%a1%e6%89%8b%e6%b3%95%e3%81%ae%e9%96%8b%e7%99%ba\/","title":{"rendered":"\u30ed\u30dc\u30c3\u30c8\u6a5f\u69cb\u3068\u305d\u306e\u8981\u7d20\u30fb\u5236\u5fa1\u624b\u6cd5\u306e\u958b\u767a"},"content":{"rendered":"\n<p class=\"has-large-font-size\"><strong>\u76ee\u6b21<\/strong><\/p>\n\n\n\n<ol class=\"wp-block-list\" start=\"1\">\n<li>3-RPSR\u30d1\u30e9\u30ec\u30eb\u30e1\u30ab\u30cb\u30ba\u30e0\u5f62\u30d1\u30a4\u30d7\u30d9\u30f3\u30c0\u3068\u30d1\u30a4\u30d7\u9001\u308a\u6a5f\u69cb<\/li>\n\n\n\n<li>\u826f\u597d\u306a\u904b\u52d5\u7279\u6027\u3092\u6709\u3059\u308b\u30d1\u30e9\u30ec\u30eb\u30e1\u30ab\u30cb\u30ba\u30e0<\/li>\n\n\n\n<li>\u5f3e\u6027\u30d2\u30f3\u30b8\u3092\u7528\u3044\u305f\u771f\u7a7a\u5bfe\u5fdc\u30fb\u7121\u767a\u5875\u30ed\u30dc\u30c3\u30c8<\/li>\n\n\n\n<li>\u30ad\u30e3\u30ea\u30d6\u30ec\u30fc\u30b7\u30e7\u30f3\u6cd5<\/li>\n\n\n\n<li>\u30ad\u30e3\u30b9\u30c6\u30a3\u30f3\u30b0\u30de\u30cb\u30d4\u30e5\u30ec\u30fc\u30bf<\/li>\n<\/ol>\n\n\n\n<p class=\"has-large-font-size\"><a><\/a><strong><u>1. 3-RPSR<\/u><\/strong><strong><u>\u30d1\u30e9\u30ec\u30eb\u30e1\u30ab\u30cb\u30ba\u30e0\u5f62\u30d1\u30a4\u30d7\u30d9\u30f3\u30c0\u3068\u30d1\u30a4\u30d7\u9001\u308a\u6a5f\u69cb<\/u><\/strong><strong><\/strong><\/p>\n\n\n\n<p>\u3000\u4efb\u610f\u65ad\u9762\u5f62\u72b6\u3092\u6709\u3059\u308b\u30d1\u30a4\u30d7\u3092\u8907\u96d1\u306a3\u6b21\u5143\u5f62\u72b6\u306b\u66f2\u3052\u52a0\u5de5\u3067\u304d\uff0c\u591a\u54c1\u7a2e\u5c11\u91cf\u751f\u7523\u306b\u5bfe\u5fdc\u53ef\u80fd\u306a\u30d1\u30a4\u30d7\u30d9\u30f3\u30c0\u30fc\u3092\u958b\u767a\u3059\u308b\u305f\u3081\uff0c\u9759\u6b62\u7bc0\u3068\u51fa\u529b\u7bc0\u304c3\u672c\u306e3-RPSR\uff08\u56de\u8ee2[Rebolute] &#8211; \u76f4\u9032[Prismatic] &#8211; \u7403[Spherical] &#8211; \u56de\u8ee2[Revolute]\uff09\u904b\u52d5\u9023\u9396\u306b\u3088\u308a\u9023\u7d50\u3055\u308c\u305f\u30d1\u30e9\u30ec\u30eb\u6a5f\u69cb\u3092\u7528\u3044\u305f\u88c5\u7f6e\u3092\u958b\u767a\u3057\u3066\u3044\u307e\u3059\uff0e<br>\u3000\u958b\u767a\u3057\u305f\u88c5\u7f6e\u306f\uff0c\u300c<strong>\u51fa\u529b\u7bc0\u304c\u30d1\u30a4\u30d7\u9001\u308a\u8ef8\u5468\u308a\u306b\u7121\u9650\u56de\u8ee2\u53ef\u80fd<\/strong>\u300d\u30fb\u300c<strong>\u9ad8\u525b\u6027<\/strong>\u300d\u30fb\u300c<strong>\u5927\u304d\u306a\u59ff\u52e2\u89d2\u5909\u5316\u3092\u5b9f\u73fe\u53ef\u80fd<\/strong>\u300d\u7b49\u306e\u30d1\u30a4\u30d7\u66f2\u3052\u306b\u9069\u3057\u305f\u7279\u6027\u3092\u6709\u3057\u3066\u3044\u308b\u3053\u3068\u304c\u5b9f\u8a3c\u3055\u308c\u3066\u3044\u307e\u3059\uff0e<\/p>\n\n\n\n<figure class=\"wp-block-image aligncenter size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"945\" height=\"625\" src=\"http:\/\/www.msd.mech.e.titech.ac.jp\/jp\/wp-content\/uploads\/2024\/02\/benda2.jpg\" alt=\"\" class=\"wp-image-356\" style=\"width:374px;height:auto\" srcset=\"https:\/\/www.msd.mech.eng.isct.ac.jp\/jp\/wp-content\/uploads\/2024\/02\/benda2.jpg 945w, https:\/\/www.msd.mech.eng.isct.ac.jp\/jp\/wp-content\/uploads\/2024\/02\/benda2-300x198.jpg 300w, https:\/\/www.msd.mech.eng.isct.ac.jp\/jp\/wp-content\/uploads\/2024\/02\/benda2-768x508.jpg 768w\" sizes=\"auto, (max-width: 945px) 100vw, 945px\" \/><figcaption class=\"wp-element-caption\">\u8a66\u4f5c\u30d9\u30f3\u30c0\u30fc\uff12\u53f7\u6a5f\u306e\u6982\u89b3<\/figcaption><\/figure>\n\n\n\n<figure class=\"wp-block-image aligncenter size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"376\" height=\"151\" src=\"http:\/\/www.msd.mech.e.titech.ac.jp\/jp\/wp-content\/uploads\/2024\/02\/benda1.jpg\" alt=\"\" class=\"wp-image-357\" srcset=\"https:\/\/www.msd.mech.eng.isct.ac.jp\/jp\/wp-content\/uploads\/2024\/02\/benda1.jpg 376w, https:\/\/www.msd.mech.eng.isct.ac.jp\/jp\/wp-content\/uploads\/2024\/02\/benda1-300x120.jpg 300w\" sizes=\"auto, (max-width: 376px) 100vw, 376px\" \/><figcaption class=\"wp-element-caption\">\u8a66\u4f5c\u30d9\u30f3\u30c0\u30fc\uff11\u53f7\u6a5f\u306e\u6982\u89b3<\/figcaption><\/figure>\n\n\n\n<div class=\"wp-block-group is-content-justification-center is-nowrap is-layout-flex wp-container-core-group-is-layout-23441af8 wp-block-group-is-layout-flex\">\n<figure class=\"wp-block-image aligncenter size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"284\" height=\"200\" src=\"http:\/\/www.msd.mech.e.titech.ac.jp\/jp\/wp-content\/uploads\/2024\/02\/benda3d-2.jpg\" alt=\"\" class=\"wp-image-361\" style=\"width:284px;height:auto\"\/><figcaption class=\"wp-element-caption\">\u6a5f\u69cb\u306e3\u6b21\u5143CAD\u56f3<\/figcaption><\/figure>\n\n\n\n<figure class=\"wp-block-image aligncenter size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"152\" height=\"200\" src=\"http:\/\/www.msd.mech.e.titech.ac.jp\/jp\/wp-content\/uploads\/2024\/02\/pipebenda-1.jpg\" alt=\"\" class=\"wp-image-362\"\/><figcaption class=\"wp-element-caption\">\u30d1\u30a4\u30d7\u30d9\u30f3\u30c0\u30fc<\/figcaption><\/figure>\n<\/div>\n\n\n\n<p><strong>\u6587\u732e\uff08\u30d1\u30a4\u30d7\u30d9\u30f3\u30c0\uff09\uff1a<\/strong><\/p>\n\n\n\n<ul class=\"wp-block-list\" start=\"1\">\n<li>Yukio Takeda, Xiao Xiao, Kazuya Hirose, Yoshiki Yoshida, Ken Ichiryu, Kinematic analysis and design of 3-RPSR parallel mechanism with triple revolute joints on the base, International Journal of Automation Technology, Vol. 4, No. 4, 2010, pp. 346-354.<\/li>\n\n\n\n<li>\u6b66\u7530\u884c\u751f\u30fb\u8096\u3000\u900d\u30fb\u5e83\u702c\u548c\u4e5f\u30fb\u597d\u7530\u7965\u57fa\u30fb\u4e00\u67f3\u3000\u5065\uff0c\u9759\u6b62\u7bc0\u4e0a\u306b\u4e09\u91cd\u56de\u8ee2\u5bfe\u5076\u3092\u6709\u3059\u308b3-RPSR\u5f626\u81ea\u7531\u5ea6\u7a7a\u9593\u30d1\u30e9\u30ec\u30eb\u30e1\u30ab\u30cb\u30ba\u30e0\uff0c\u65e5\u672c\u6a5f\u68b0\u5b66\u4f1a\u30fb\u30ed\u30dc\u30c6\u30a3\u30af\u30b9\u30e1\u30ab\u30c8\u30ed\u30cb\u30af\u30b9\u8b1b\u6f14\u4f1a2010\u8b1b\u6f14\u8ad6\u6587\u96c6, 1A2-G20.<\/li>\n<\/ul>\n\n\n\n<p><strong>\u6587\u732e\uff08\u30d1\u30a4\u30d7\u628a\u6301\u30fb\u9001\u308a\u88c5\u7f6e\uff09\uff1a<\/strong><\/p>\n\n\n\n<ul class=\"wp-block-list\" start=\"1\">\n<li>\u6a0b\u53e3\u52dd\uff0c\u77f3\u4e95\u5229\u7d75\uff0c\u6b66\u7530\u884c\u751f(Masaru HIGUCHI, Rie ISHII and Yukio TAKEDA)\uff1a\u30d1\u30a4\u30d7\u306e3\u6b21\u5143\u66f2\u3052\u52a0\u5de5\u6a5f\u7528\u5927\u767a\u751f\u529b\u628a\u6301\u6a5f\u69cb\u306e\u958b\u767a\uff0c\u65e5\u672c\u6a5f\u68b0\u5b66\u4f1a\u30fb\u30ed\u30dc\u30c6\u30a3\u30af\u30b9\u30e1\u30ab\u30c8\u30ed\u30cb\u30af\u30b9\u8b1b\u6f14\u4f1a2009\u8b1b\u6f14\u8ad6\u6587\u96c6\uff0c2A2-A17\uff0e<\/li>\n\n\n\n<li>\u7a32\u7530\u8aed\u30fb\u6a0b\u53e3\u52dd\u30fb\u6b66\u7530\u884c\u751f\u30fb\u4e00\u67f3\u5065\uff0c\u30d1\u30a4\u30d7\u306e\uff13\u6b21\u5143\u66f2\u3052\u52a0\u5de5\u6a5f\u7528\u5927\u767a\u751f\u529b\u628a\u6301\u6a5f\u69cb\u306e\u958b\u767a\uff08\u5927\u304d\u306a\u66f2\u7387\u3067\uff12\u6b21\u5143\u5f62\u72b6\u306b\u66f2\u3052\u3089\u308c\u305f\u30d1\u30a4\u30d7\u7528\u306e\u628a\u6301\u6a5f\u69cb\u306e\u63d0\u6848\uff09\uff0c\u65e5\u672c\u6a5f\u68b0\u5b66\u4f1a[No.10-10]\u7b2c10\u56de\u6a5f\u7d20\u6f64\u6ed1\u8a2d\u8a08\u90e8\u9580\u8b1b\u6f14\u4f1a\u8b1b\u6f14\u8ad6\u6587\u96c6\uff0c2010-4-19-20, \u65b0\u6f5f\uff0cpp.177-180.<\/li>\n<\/ul>\n\n\n\n<p class=\"has-large-font-size\"><a><\/a><strong><u>2. <\/u><\/strong><strong><u>\u826f\u597d\u306a\u904b\u52d5\u7279\u6027\u3092\u6709\u3059\u308b\u30d1\u30e9\u30ec\u30eb\u30e1\u30ab\u30cb\u30ba\u30e0<\/u><\/strong><strong><\/strong><\/p>\n\n\n\n<p>\u3000\u8fd1\u5e74\u3067\u306f\u30b3\u30f3\u30d4\u30e5\u30fc\u30bf\u5236\u5fa1\u6280\u8853\u304c\u6025\u901f\u306b\u767a\u5c55\u3057\u3066\u3044\u307e\u3059\u304c\uff0c\u5236\u5fa1\u5bfe\u8c61\u3067\u3042\u308b\u6a5f\u69cb\u306e\u904b\u52d5\u7279\u6027\u304c\u512a\u308c\u3066\u3044\u306a\u3051\u308c\u3070\u305d\u306e\u6069\u6075\u3092\u5341\u5206\u306b\u4eab\u53d7\u3059\u308b\u3053\u3068\u306f\u3067\u304d\u307e\u305b\u3093\uff0e\u5f53\u7814\u7a76\u5ba4\u3067\u306f\uff0c\u9ad8\u7cbe\u5ea6\u30fb\u5927\u51fa\u529b\u5909\u4f4d\u5e45\u30fb\u7701\u5165\u529b\u81ea\u7531\u5ea6\u7b49\u306e\u5b9f\u7528\u6027\u306b\u512a\u308c\u305f\u591a\u7a2e\u985e\u306e\u30ed\u30dc\u30c3\u30c8\u6a5f\u69cb\u304a\u3088\u3073\u305d\u306e\u904b\u52d5\u5236\u5fa1\u624b\u6cd5\u30fb\u30ad\u30e3\u30ea\u30d6\u30ec\u30fc\u30b7\u30e7\u30f3\u624b\u6cd5\u306e\u958b\u767a\u3092\u884c\u3044\uff0c\u52a0\u5de5\u6a5f\u3084\u798f\u7949\u6a5f\u5668\u306e\u958b\u767a\u306b\u5f79\u7acb\u3066\u3066\u3044\u307e\u3059\uff0e<\/p>\n\n\n\n<p><strong>(1) <\/strong><strong>\u4e26\u9032\u30d1\u30e9\u30ec\u30eb\u30e1\u30ab\u30cb\u30ba\u30e0<\/strong><strong><\/strong><\/p>\n\n\n\n<p>\u00a0\u00a03-RUU\u5f62\u6a5f\u69cb<\/p>\n\n\n\n<div class=\"wp-block-group is-content-justification-center is-nowrap is-layout-flex wp-container-core-group-is-layout-23441af8 wp-block-group-is-layout-flex\">\n<figure class=\"wp-block-image aligncenter size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"179\" height=\"158\" src=\"http:\/\/www.msd.mech.e.titech.ac.jp\/jp\/wp-content\/uploads\/2024\/02\/shisakukigaikan.jpg\" alt=\"\" class=\"wp-image-365\" style=\"width:297px;height:auto\"\/><figcaption class=\"wp-element-caption\">\u8a66\u4f5c\u6a5f\u6982\u89b3<\/figcaption><\/figure>\n\n\n\n<figure class=\"wp-block-image aligncenter size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"63\" height=\"140\" src=\"http:\/\/www.msd.mech.e.titech.ac.jp\/jp\/wp-content\/uploads\/2024\/02\/1ponrensa.jpg\" alt=\"\" class=\"wp-image-366\" style=\"width:122px;height:auto\"\/><figcaption class=\"wp-element-caption\">1\u672c\u306e\u9023\u7d50\u9023\u9396\u306e\u69cb\u9020<\/figcaption><\/figure>\n<\/div>\n\n\n\n<p>3-RRRRR\u5f62\u6a5f\u69cb<\/p>\n\n\n\n<div class=\"wp-block-group is-content-justification-center is-nowrap is-layout-flex wp-container-core-group-is-layout-23441af8 wp-block-group-is-layout-flex\">\n<figure class=\"wp-block-image aligncenter size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"230\" height=\"172\" src=\"http:\/\/www.msd.mech.e.titech.ac.jp\/jp\/wp-content\/uploads\/2024\/02\/shisakukigaikan2.jpg\" alt=\"\" class=\"wp-image-367\" style=\"width:266px;height:auto\"\/><figcaption class=\"wp-element-caption\">\u8a66\u4f5c\u6a5f\u6982\u89b3<\/figcaption><\/figure>\n\n\n\n<figure class=\"wp-block-image aligncenter size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"229\" height=\"200\" src=\"http:\/\/www.msd.mech.e.titech.ac.jp\/jp\/wp-content\/uploads\/2024\/02\/1ponrensakouzou2.jpg\" alt=\"\" class=\"wp-image-368\"\/><figcaption class=\"wp-element-caption\">\uff11\u672c\u306e\u9023\u7d50\u9023\u9396\u306e\u69cb\u9020<\/figcaption><\/figure>\n<\/div>\n\n\n\n<p><strong>\u6587\u732e\uff1a<\/strong><\/p>\n\n\n\n<ul class=\"wp-block-list\" start=\"1\">\n<li>Syamsul Huda and Yukio Takeda, Mobility and Workspace of a 3-5R Translational Parallel Mechanism, Proceedings of IDETC\/CIE 2006 ASME 2006 International Design Engineering Technical Conferences &amp; Computers and Information in Engineering Conference, September 10-13, 2006, Philadelphia, Pennsylvania, USA., in CD-ROM, DETC2006-99340.<\/li>\n\n\n\n<li>Masataka Tanabe, Yukio Takeda and Syamsul Huda, Utility workspace of 3-5R translational parallel mechanism, Journal of Advanced Mechanical Design, Systems, and Manufacturing, Vol. 2, No. 6, 2008, pp. 998-1010.<\/li>\n\n\n\n<li>\u7530\u908a\u96c5\u9686\u30fb\u6b66\u7530\u884c\u751f\uff1a\u59ff\u52e2\u88dc\u511f\u6027\u3092\u6709\u3059\u308b\u4e26\u9032\u30d1\u30e9\u30ec\u30eb\u30de\u30cb\u30d4\u30e5\u30ec\u30fc\u30bf\uff0c\u65e5\u672c\u6a5f\u68b0\u5b66\u4f1a\u8ad6\u6587\u96c6C\u7de8\uff0c76\u5dfb763\u53f7(2010-3)\uff0cpp. 727-733.<\/li>\n\n\n\n<li>\u5c0f\u4fe3\u6b63\u8f1d\u30fb\u6b66\u7530\u884c\u751f\u30fb\u30e6\u30f3\u30db\u30fc\u30c4\u30a9\u30a4\uff0c\u30a4\u30f3\u30d4\u30fc\u30c0\u30f3\u30b9\u5236\u5fa1\u7cfb\u3092\u7528\u3044\u305f\u4f4d\u7f6e\u30fb\u59ff\u52e2\u5206\u96e2\u5f62\u30d1\u30e9\u30ec\u30eb\u30de\u30cb\u30d4\u30e5\u30ec\u30fc\u30bf\u306b\u3088\u308b\u30da\u30b0\u30a4\u30f3\u30db\u30fc\u30eb\u4f5c\u696d\u5b9f\u9a13\uff0c\u65e5\u672c\u6a5f\u68b0\u5b66\u4f1a[No.10-10]\u7b2c10\u56de\u6a5f\u7d20\u6f64\u6ed1\u8a2d\u8a08\u90e8\u9580\u8b1b\u6f14\u4f1a\u8b1b\u6f14\u8ad6\u6587\u96c6\uff0c2010-4-19-20, \u65b0\u6f5f\uff0cpp.181-182.<\/li>\n<\/ul>\n\n\n\n<p class=\"has-large-font-size\"><strong>(2) <\/strong><strong>\u56de\u8ee2\u30d1\u30e9\u30ec\u30eb\u30e1\u30ab\u30cb\u30ba\u30e0<\/strong><\/p>\n\n\n\n<div class=\"wp-block-group is-content-justification-center is-nowrap is-layout-flex wp-container-core-group-is-layout-23441af8 wp-block-group-is-layout-flex\">\n<figure class=\"wp-block-image aligncenter size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"153\" height=\"150\" src=\"http:\/\/www.msd.mech.e.titech.ac.jp\/jp\/wp-content\/uploads\/2024\/02\/3urumechanism.jpg\" alt=\"\" class=\"wp-image-369\" style=\"width:219px;height:auto\"\/><figcaption class=\"wp-element-caption\">3-URU\u5f62\u6a5f\u69cb<\/figcaption><\/figure>\n\n\n\n<figure class=\"wp-block-image aligncenter size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"265\" height=\"150\" src=\"http:\/\/www.msd.mech.e.titech.ac.jp\/jp\/wp-content\/uploads\/2024\/02\/kaitenchushin.jpg\" alt=\"\" class=\"wp-image-370\" style=\"width:331px;height:auto\"\/><figcaption class=\"wp-element-caption\">\u56de\u8ee2\u4e2d\u5fc3\u306e\u4f4d\u7f6e\u8aa4\u5dee\u306e\u88dc\u511f\u6a5f\u80fd\u3092\u6709\u3059\u308b\uff12\u81ea\u7531\u5ea6\u56de\u8ee2\u30d1\u30e9\u30ec\u30eb\u30e1\u30ab\u30cb\u30ba\u30e0<\/figcaption><\/figure>\n<\/div>\n\n\n\n<p><strong>\u6587\u732e\uff1a<\/strong><\/p>\n\n\n\n<ul class=\"wp-block-list\" start=\"1\">\n<li>Syamsul Huda and Yukio Takeda, Kinematic Analysis and Synthesis of a 3-URU Pure Rotational Parallel Mechanism with Respect to Singularity and Workspace, Journal of Advanced Mechanical Design, Systems, and Manufacturing, Vol. 1, No. 1, 2007, pp. 81-92.<\/li>\n\n\n\n<li>Syamsul Huda and Yukio Takeda, Kinematic design of 3-URU pure rotational parallel mechanism to minimize uncompensatable error, Proceedings of the seventeenth CISM-IFToMM Symposium on ROMANSY 17, Robot Design, Dynamics, and Control, Edited by A. Tananishi, Y. Nakamura and B. Heimann, July 5-9, 2008, Tokyo, Japan, pp.443-450.<\/li>\n\n\n\n<li>Syamsul HUDA and Yukio TAKEDA, Kinematic Design of 3-URU Pure Rotational Parallel Mechanism with Consideration of Uncompensatable Error, Journal of Advanced Mechanical Design, Systems, and Manufacturing, Vol. 2, No. 5, 2008, pp. 874-886.<\/li>\n\n\n\n<li>Syamsul Huda, Yukio Takeda and Shuta Hanagasaki, Kinematic design of 3-URU pure rotational parallel mechanism to perform precise motion within a large workspace, Proceedings of the second international workshop on fundamental issues and future research directions for parallel mechanisms and manipulators, September 21-22, Montpellier, France, 2008, pp. 49-56.<\/li>\n\n\n\n<li>Gieseppe Carbone, Yukio Takeda, Marco Ceccarelli, Syamsul Huda, Error and Stiffness Analysis of 3-URU Pure Rotational Parallel Mechanism, Proceedings of the ISRM2009, 1. International Symposium on Robotics and Mechatronics, 2009, pp. 67-72, 2009.9.21-23, Hanoi, Vietnam.<\/li>\n\n\n\n<li>Syamsul Huda, Yukio Takeda and Shuta Hanagasaki, Kinematic design of 3-URU pure rotational parallel mechanism to perform precise motion within a large workspace, Meccanica, Vol. 46, 2011, pp. 89-100(DOI 10.1007\/s11012-010-9400-2).<\/li>\n\n\n\n<li>\u677e\u7530\u8061\u4e00\u90ce\uff0c\u6b66\u7530\u884c\u751f\uff0c\u6a0b\u53e3\u52dd\uff1a\u8aa4\u5dee\u88dc\u511f\u88c5\u7f6e\u3092\u642d\u8f09\u3057\u305f3-URU\u5f623\u81ea\u7531\u5ea6\u56de\u8ee2\u30d1\u30e9\u30ec\u30eb\u30e1\u30ab\u30cb\u30ba\u30e0\u306e\u958b\u767a\uff0c\u7b2c15\u56de\u65e5\u672cIFToMM\u4f1a\u8b70\u30b7\u30f3\u30dd\u30b8\u30a6\u30e0\u524d\u5237\u96c6\uff0cpp.1-8.<\/li>\n\n\n\n<li>\u5ca1\u6751\u3000\u6f64\u30fb\u82b1\u30f6\u5d0e\u3000\u79c0\u592a\u30fb\u6b66\u7530\u3000\u884c\u751f\uff1a\u8aa4\u5dee\u306e\u691c\u51fa\u30fb\u88dc\u511f\u6a5f\u80fd\u3092\u6709\u3059\u308b2\u81ea\u7531\u5ea6\u56de\u8ee2\u30d1\u30e9\u30ec\u30eb\u30e1\u30ab\u30cb\u30ba\u30e0\u306e\u7dcf\u5408\uff0c\u65e5\u672cIFToMM\u4f1a\u8b70\u30b7\u30f3\u30dd\u30b8\u30a6\u30e0\u524d\u5237\u96c6(\u7b2c16\u56de), 2010, pp.29-36.<\/li>\n\n\n\n<li>\u5ca1\u6751\u3000\u6f64\uff0c\u82b1\u30f6\u5d0e\u79c0\u592a\uff0c\u6b66\u7530\u884c\u751f\uff0c\u51fa\u529b\u306e\u56de\u8ee2\u4e2d\u5fc3\u3092\u76f4\u63a5\u652f\u6301\u3059\u308b\u8981\u7d20\u3092\u6301\u305f\u306a\u3044\u9ad8\u7cbe\u5ea62\u81ea\u7531\u5ea6\u56de\u8ee2\u30d1\u30e9\u30ec\u30eb\u30e1\u30ab\u30cb\u30ba\u30e0\u306e\u7dcf\u5408\uff0c\u7b2c16\u56de\u30ed\u30dc\u30c6\u30a3\u30af\u30b9\u30fb\u30b7\u30f3\u30dd\u30b8\u30a2\u8ad6\u6587\u96c6\uff0c2011\u5e743\u670814\u65e5\uff5e15\u65e5\u30fb\u9e7f\u5150\u5cf6\uff0c2011, pp. 283-290.<\/li>\n<\/ul>\n\n\n\n<p class=\"has-large-font-size\"><strong>(3) <\/strong><strong>\u4e26\u5217\u7c97\u5fae\u52d5\u99c6\u52d5\u5f62\u30cf\u30a4\u30d6\u30ea\u30c3\u30c9\u30d1\u30e9\u30ec\u30eb\u30de\u30cb\u30d4\u30e5\u30ec\u30fc\u30bf<\/strong><\/p>\n\n\n\n<div class=\"wp-block-group is-content-justification-center is-nowrap is-layout-flex wp-container-core-group-is-layout-23441af8 wp-block-group-is-layout-flex\">\n<figure class=\"wp-block-image aligncenter size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"236\" height=\"254\" src=\"http:\/\/www.msd.mech.e.titech.ac.jp\/jp\/wp-content\/uploads\/2024\/02\/manipulator.jpg\" alt=\"\" class=\"wp-image-371\"\/><figcaption class=\"wp-element-caption\">\u8a66\u4f5c\u30de\u30cb\u30d4\u30e5\u30ec\u30fc\u30bf\u306e\u6982\u89b3<\/figcaption><\/figure>\n\n\n\n<figure class=\"wp-block-image aligncenter size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"257\" height=\"212\" src=\"http:\/\/www.msd.mech.e.titech.ac.jp\/jp\/wp-content\/uploads\/2024\/02\/results.jpg\" alt=\"\" class=\"wp-image-372\" style=\"width:303px;height:auto\"\/><figcaption class=\"wp-element-caption\">\u5b9f\u9a13\u7d50\u679c\u306e\u4f8b<\/figcaption><\/figure>\n<\/div>\n\n\n\n<p><strong>\u4ed5\u69d8\uff1a<\/strong><\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u5206\u89e3\u80fd\uff1a 10nm\uff0c0.2\u03bcrad<\/li>\n\n\n\n<li>\u30b9\u30c8\u30ed\u30fc\u30af\uff1a 80\u00d780\u00d740mm\uff0c20\u00b0\u00d720\u00b0\u00d720\u00b0<\/li>\n\n\n\n<li>\u5927\u304d\u3055\uff1a 540\u00d7540\u00d7600 mm<\/li>\n\n\n\n<li>\u99c6\u52d5\u7cfb: AC\u30b5\u30fc\u30dc\u30e2\u30fc\u30bf\uff08\u7c97\u52d5\uff09\uff0b\u30d4\u30a8\u30be\u30a2\u30af\u30c1\u30e5\u30a8\u30fc\u30bf\uff08\u5fae\u52d5\uff09\u54046\u53f0<\/li>\n<\/ul>\n\n\n\n<p><strong>\u6587\u732e\uff1a<\/strong><\/p>\n\n\n\n<ol class=\"wp-block-list\" start=\"1\">\n<li>Yukio Takeda, Kazuki Ichikawa, Hiroaki Funabashi and Kazuya Hirose, An In-Parallel Actuated Manipulator with Redundant Actuators for Gross and Fine Motions, Proc. 2003 IEEE International Conf. on Robotics and Automation, Taipei, Taiwan, September 14-19, 2003, pp.749-754, 2003.<\/li>\n\n\n\n<li>\u6b66\u7530\u884c\u751f\u30fb\u90ed\u3000\u5dcd\uff0c\u4e26\u5217\u7c97\u5fae\u52d5\u99c6\u52d5\u5f626\u81ea\u7531\u5ea6\u7a7a\u9593\u4f4d\u7f6e\u6c7a\u3081\u6a5f\u69cb\u306e\u4f4d\u7f6e\u6c7a\u3081\u5206\u89e3\u80fd\u306e\u5411\u4e0a\uff0c2005\u5e74\u5ea6\u7cbe\u5bc6\u5de5\u5b66\u4f1a\u79cb\u5b63\u5927\u4f1a\u5b66\u8853\u8b1b\u6f14\u4f1a\u8b1b\u6f14\u8ad6\u6587\u96c6\uff0c2005.9.15-17\uff0c\u4eac\u90fd\uff0cpp.1205-1206.<\/li>\n\n\n\n<li>Yukio Takeda and Wei Guo, \u201cRealization of fine positioning by a redundant parallel manipulator\u201d, Proceedings of 2006 International Symposium on Flexible Automation, Osaka, Japan, July 10-12, 2006, pp.999-1004.<\/li>\n\n\n\n<li>Yukio TAKEDA, Kazuki ICHIKAWA and Wei GUO, A Spatial Six-Dof Parallel Manipulator with Redundant Actuators for Gross and Fine Motions, Journal of Advanced Mechanical Design, Systems, and Manufacturing, Vol. 4, No.2, 2010, pp.444-456.<\/li>\n<\/ol>\n\n\n\n<p><a><\/a><strong><u>3. <\/u><\/strong><strong><u>\u5f3e\u6027\u30d2\u30f3\u30b8\u3092\u7528\u3044\u305f\u771f\u7a7a\u5bfe\u5fdc\u30fb\u7121\u767a\u5875\u30ed\u30dc\u30c3\u30c8<\/u><\/strong><strong><\/strong><\/p>\n\n\n\n<p>\u3000\u901a\u5e38\uff0c\u56de\u8ee2\u5bfe\u5076\u306b\u306f\u30dc\u30fc\u30eb\u30d9\u30a2\u30ea\u30f3\u30b0\u3084\u6ed1\u308a\u8ef8\u53d7\u3051\u304c\u7528\u3044\u3089\u308c\u307e\u3059\uff0e<br>\u3057\u304b\u3057\uff0c\u3053\u308c\u3089\u306e\u6a5f\u68b0\u8981\u7d20\u306b\u306f\u69cb\u6210\u90e8\u54c1\u9593\u3067\u6469\u8017\u7d1b\u304c\u751f\u3058\u305f\u308a\u6f64\u6ed1\u304c\u4e0d\u53ef\u6b20\u3067\u3042\u308b\u7b49\u306e\u554f\u984c\u304c\u3042\u308a\uff0c\u7279\u306b\u7570\u7269\u306e\u6df7\u5165\u3084\u9ad8\u771f\u7a7a\u306e\u7dad\u6301\u304c\u5fc5\u8981\u306a\u7528\u9014\u3067\u306f\u969c\u5bb3\u3068\u306a\u3063\u3066\u3044\u307e\u3057\u305f\uff0e\u305d\u3053\u3067\uff0c\u76f8\u5bfe\u904b\u52d5\u3059\u308b\u90e8\u54c1\u9593\u3092\u5f3e\u6027\u5909\u5f62\u3059\u308b\u90e8\u6750\u3067\u63a5\u7d9a\u3057\uff0c\u305d\u306e\u5f3e\u6027\u5909\u5f62\u3092\u5229\u7528\u3057\u3066\u56de\u8ee2\u904b\u52d5\u3092\u5275\u308a\u51fa\u3059\u5f3e\u6027\u30d2\u30f3\u30b8\u306e\u7814\u7a76\u304c\u8fd1\u5e74\u6ce8\u76ee\u3055\u308c\u3066\u3044\u307e\u3059\uff0e<br>\u3000\u5f53\u7814\u7a76\u5ba4\u3067\u306f\uff0c\u4e8c\u91cd\u3089\u305b\u3093\u5f62\u5f3e\u6027\u56de\u8ee2\u30d2\u30f3\u30b8\u3092\u63d0\u6848\u3057\uff0c\u8a66\u4f5c\u54c1\u3092\u7528\u3044\u305f\u5b9f\u9a13\u691c\u8a3c\u306b\u3088\u308a\u5927\u304d\u306a\u56de\u8ee2\u904b\u52d5\u5909\u4f4d\u3068\u9ad8\u3044\u8377\u91cd\u652f\u6301\u525b\u6027\u3092\u4e21\u7acb\u3067\u304d\u308b\u3053\u3068\u3092\u78ba\u304b\u3081\u3066\u3044\u307e\u3059\uff0e<\/p>\n\n\n\n<p><a><\/a><strong><u>4. <\/u><\/strong><strong><u>\u30ad\u30e3\u30ea\u30d6\u30ec\u30fc\u30b7\u30e7\u30f3\u6cd5<\/u><\/strong><strong><\/strong><\/p>\n\n\n\n<p>\u3000\u88c5\u7f6e\u306e\u8a2d\u8a08\u30d1\u30e9\u30e1\u30fc\u30bf\u3068\u5b9f\u969b\u306b\u3067\u304d\u3042\u304c\u3063\u305f\u88fd\u54c1\u306e\u9593\u306b\u306f\uff0c\u52a0\u5de5\u5de5\u7a0b\u3084\u7d44\u307f\u7acb\u3066\u5de5\u7a0b\uff0c\u90e8\u6750\u306e\u5f3e\u6027\u5909\u5f62\u7b49\u306b\u7531\u6765\u3059\u308b\u8aa4\u5dee\u304c\u751f\u3058\u307e\u3059\uff0e\u3053\u306e\u8aa4\u5dee\u3092\u691c\u51fa\u30fb\u88dc\u6b63\u3057\uff0c\u6240\u671b\u306e\u76ee\u7684\u904b\u52d5\u3092\u9ad8\u7cbe\u5ea6\u306b\u9054\u6210\u3059\u308b\u305f\u3081\u306e\u30ad\u30e3\u30ea\u30d6\u30ec\u30fc\u30b7\u30e7\u30f3\u624b\u6cd5\u3092\u7814\u7a76\u30fb\u958b\u767a\u3057\u3066\u3044\u307e\u3059\uff0e<\/p>\n\n\n\n<div class=\"wp-block-group is-content-justification-center is-nowrap is-layout-flex wp-container-core-group-is-layout-23441af8 wp-block-group-is-layout-flex\">\n<figure class=\"wp-block-image aligncenter size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"173\" height=\"150\" src=\"http:\/\/www.msd.mech.e.titech.ac.jp\/jp\/wp-content\/uploads\/2024\/02\/six-degree.jpg\" alt=\"\" class=\"wp-image-373\" style=\"width:255px;height:auto\"\/><figcaption class=\"wp-element-caption\">\u30d1\u30e9\u30ec\u30eb\u30e1\u30ab\u30cb\u30ba\u30e0\u3092\u5fdc\u7528\u3057\u305f\uff16\u81ea\u7531\u5ea6\u30ef\u30fc\u30af\u30c6\u30fc\u30d6\u30eb<\/figcaption><\/figure>\n\n\n\n<figure class=\"wp-block-image aligncenter size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"171\" height=\"150\" src=\"http:\/\/www.msd.mech.e.titech.ac.jp\/jp\/wp-content\/uploads\/2024\/02\/kaihatushuho.jpg\" alt=\"\" class=\"wp-image-374\" style=\"width:285px;height:auto\"\/><figcaption class=\"wp-element-caption\">\u958b\u767a\u624b\u6cd5\u306e\u52b9\u679c<\/figcaption><\/figure>\n<\/div>\n\n\n\n<p><strong>\u6587\u732e\uff1a<\/strong><\/p>\n\n\n\n<ol class=\"wp-block-list\" start=\"1\">\n<li>\u6b66\u7530\u884c\u751f\u30fb\u821f\u6a4b\u5b8f\u660e\u30fb\u6728\u6751\u6b63\u53f2\u30fb\u5ee3\u702c\u548c\u4e5f\uff1a\u8ee2\u304c\u308a\u7403\u9762\u8ef8\u53d7\u3092\u7528\u3044\u305f6\u81ea\u7531\u5ea6\u7a7a\u9593\u30d1\u30e9\u30ec\u30eb\u30e1\u30ab\u30cb\u30ba\u30e0\u5f62\u30ef\u30fc\u30af\u30c6\u30fc\u30d6\u30eb\u306e\u958b\u767a\uff0c\u65e5\u672c\u6a5f\u68b0\u5b66\u4f1a\u8ad6\u6587\u96c6C\u7de8\uff0c67\u5dfb664\u53f7\uff082001-12\uff09\uff0cpp.4025-4031.<\/li>\n\n\n\n<li>\u6b66\u7530\u884c\u751f\u30fb\u6c88\u5d17\u30fb\u821f\u6a4b\u5b8f\u660e\uff1a\u30d5\u30fc\u30ea\u30a8\u7d1a\u6570\u3092\u7528\u3044\u305f\u30d1\u30e9\u30ec\u30eb\u30e1\u30ab\u30cb\u30ba\u30e0\u306e\u30ad\u30e3\u30ea\u30d6\u30ec\u30fc\u30b7\u30e7\u30f3\uff08\u7b2c1\u5831\uff0c\u30ad\u30e3\u30ea\u30d6\u30ec\u30fc\u30b7\u30e7\u30f3\u6cd5\u304a\u3088\u3073\u6e2c\u5b9a\u904b\u52d5\u306e\u9078\u5b9a\u6cd5\u306e\u63d0\u6848\uff09\uff0c\u65e5\u672c\u6a5f\u68b0\u5b66\u4f1a\u8ad6\u6587\u96c6C\u7de8\uff0c68\u5dfb673\u53f7, 2002, pp.2762-2769\uff0e<\/li>\n\n\n\n<li>\u6c88\u5d17\u30fb\u6b66\u7530\u884c\u751f\u30fb\u821f\u6a4b\u5b8f\u660e\uff1a\u30d5\u30fc\u30ea\u30a8\u7d1a\u6570\u3092\u7528\u3044\u305f\u30d1\u30e9\u30ec\u30eb\u30e1\u30ab\u30cb\u30ba\u30e0\u306e\u30ad\u30e3\u30ea\u30d6\u30ec\u30fc\u30b7\u30e7\u30f3\uff08\u7b2c2\u5831\uff0c\u5b9f\u9a13\u7684\u691c\u8a0e\uff09\uff0c\u65e5\u672c\u6a5f\u68b0\u5b66\u4f1a\u8ad6\u6587\u96c6C\u7de8\uff0c69\u5dfb\uff0c682\u53f7\uff0c2003, pp.1691-1698\uff0e\uff08\u5e73\u621017\u5e74\u5ea6\u3000\u30d5\u30a1\u30ca\u30c3\u30afFA\u30ed\u30dc\u30c3\u30c8\u8ca1\u56e3\u8ad6\u6587\u8cde\u53d7\u8cde\uff09<\/li>\n\n\n\n<li>Yukio TAKEDA, Gang SHEN and Hiroaki FUNABASHI, A DBB Based Kinematic Calibration Method for In-Parallel Actuated Mechanisms Using a Fourier Series, Transactions of the ASME, Journal of Mechanical Design, Vol. 126, September 2004, pp.856-865.<\/li>\n\n\n\n<li>E. Castillo-Castaneda and Yukio Takeda, Improving path accuracy of a crank-type 6-dof parallel mechanism by stiction compensation, Mechanism and Machine Theory, Vol. 43, No.1, 2008, pp.104-114.<\/li>\n\n\n\n<li>\u4e95\u672c\u6df3\u4e00\u30fb\u6b66\u7530\u884c\u751f\u30fb\u658e\u85e4\u79c0\u4f38\u30fb\u4e00\u67f3 \u5065\uff0c\u6700\u5927\u4f4d\u7f6e\u6c7a\u3081\u8aa4\u5dee\u63a8\u5b9a\u306b\u57fa\u3065\u304f\u30ed\u30dc\u30c3\u30c8\u306e\u6700\u9069\u6a5f\u69cb\u30ad\u30e3\u30ea\u30d6\u30ec\u30fc\u30b7\u30e7\u30f3\uff0c\u65e5\u672c\u6a5f\u68b0\u5b66\u4f1a\u8ad6\u6587\u96c6(C\u7de8)\uff0c74\u5dfb748\u53f7(2008), pp.3069-3076.<\/li>\n\n\n\n<li>Junichi Imoto, Yukio Takeda, Hidenobu Saito and Ken Ichiryu, Optimal kinematic calibration of robots based on maximum positioning-error estimation (Theory and application to a parallel-mechanism pipe bender), Proceedings of the 5th International Workshop on Computational Kinematics, pp.133-140, Duisburg, Germany, 2009, A. Kecskemethy and A. Mueller Editors, Springer-Verlarg.<br>2008, pp.104-114.<\/li>\n<\/ol>\n\n\n\n<p><a><\/a><strong><u>5. <\/u><\/strong><strong><u>\u30ad\u30e3\u30b9\u30c6\u30a3\u30f3\u30b0\u30de\u30cb\u30d4\u30e5\u30ec\u30fc\u30bf<\/u><\/strong><strong><\/strong><\/p>\n\n\n\n<p>\u3000\u9060\u304f\u96e2\u308c\u305f\u5834\u6240\u3078\u30a8\u30f3\u30c9\u30a8\u30d5\u30a7\u30af\u30bf\u3092\u6295\u5c04\u30fb\u56de\u53ce\u3059\u308b\u30ad\u30e3\u30b9\u30c6\u30a3\u30f3\u30b0\u30de\u30cb\u30d4\u30e5\u30ec\u30fc\u30bf\u306f\uff0c\u707d\u5bb3\u73fe\u5834\u3084\u60d1\u661f\u63a2\u67fb\u7b49\u306e\u7528\u9014\u306b\u52b9\u679c\u7684\u3067\u3042\u308b\u3068\u8003\u3048\u3089\u308c\u307e\u3059\uff0e\u30a8\u30f3\u30c9\u30a8\u30d5\u30a7\u30af\u30bf\u3092\u6240\u671b\u306e\u5834\u6240\u3078\u7cbe\u5ea6\u826f\u304f\u6295\u5c04\u3057\u305f\u308a\uff0c\u7a7a\u4e2d\u3067\u306e\u59ff\u52e2\u3092\u5236\u5fa1\u3059\u308b\u305f\u3081\u306b\u306f\uff0c\u4e0e\u3048\u308b\u904b\u52d5\u91cf\u3084\u30d6\u30ec\u30fc\u30ad\u529b\u3092\u9ad8\u7cbe\u5ea6\u306b\u5236\u5fa1\u53ef\u80fd\u306a\u6295\u5c04\u6a5f\u69cb\u3084\u30d6\u30ec\u30fc\u30ad\u6a5f\u69cb\u304c\u4e0d\u53ef\u6b20\u3067\u3059\uff0e\u5f53\u7814\u7a76\u5ba4\u3067\u306f\uff0c\u3053\u3046\u3057\u305f\u6a5f\u69cb\u306e\u958b\u767a\u3068\u5236\u5fa1\u624b\u6cd5\u306e\u958b\u767a\u3092\u884c\u3063\u3066\u3044\u307e\u3059\uff0e<\/p>\n\n\n\n<p><strong>\u6587\u732e\uff1a<\/strong><\/p>\n\n\n\n<ol class=\"wp-block-list\" start=\"1\">\n<li>\u6709\u9685\u3000\u4ec1\u30fb\u6b66\u7530\u884c\u751f\u30fb\u6a2a\u4e95\u4e00\u4ec1\uff0c\u30ad\u30e3\u30b9\u30c6\u30a3\u30f3\u30b0\u30de\u30cb\u30d4\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u306b\u3088\u308b\u7269\u4f53\u56de\u53ce\u52d5\u4f5c\u306e\u751f\u6210\uff0c\u65e5\u672c\u6a5f\u68b0\u5b66\u4f1a\u30fb\u30ed\u30dc\u30c6\u30a3\u30af\u30b9\u30e1\u30ab\u30c8\u30ed\u30cb\u30af\u30b9\u8b1b\u6f14\u4f1a2010\u8b1b\u6f14\u8ad6\u6587\u96c6, 2A2-A29.<\/li>\n\n\n\n<li>\u5869\u898b\u98db\u9ce5\u30fb\u6a0b\u53e3\u52dd\u30fb\u6709\u9685\u4ec1\u30fb\u6b66\u7530\u884c\u751f\uff0c\u30ad\u30e3\u30b9\u30c6\u30a3\u30f3\u30b0\u30de\u30cb\u30d4\u30e5\u30ec\u30fc\u30bf\u306e\u5927\u30c0\u30a4\u30ca\u30df\u30c3\u30af\u30ec\u30f3\u30b8\u5f35\u529b\u5236\u5fa1\u7279\u6027\u3092\u6709\u3059\u308b\u30ef\u30a4\u30e4\u7e70\u308a\u51fa\u3057\u6a5f\u69cb\u306e\u958b\u767a\uff0c\u65e5\u672c\u6a5f\u68b0\u5b66\u4f1a\u30fb\u30ed\u30dc\u30c6\u30a3\u30af\u30b9\u30e1\u30ab\u30c8\u30ed\u30cb\u30af\u30b9\u8b1b\u6f14\u4f1a2010\u8b1b\u6f14\u8ad6\u6587\u96c6, 2A2-B10<\/li>\n\n\n\n<li>Asuka SHIOMI, Masaru HIGUCHI, Yukio TAKEDA and Hitoshi ARISUMI, \u201cDevelopment of a Reel-out Mechanism with Large Dynamic Range Tension Control Characteristics for Casting Manipulator\u201d, Proc. the First IFToMM Asian Conference on Mechanism and Machine Science, October 21 &#8211; 25, 2010, Taipei, Taiwan (CD-ROM proc.).<\/li>\n<\/ol>\n","protected":false},"excerpt":{"rendered":"<p>\u76ee\u6b21 1. 3-RPSR\u30d1\u30e9\u30ec\u30eb\u30e1\u30ab\u30cb\u30ba\u30e0\u5f62\u30d1\u30a4\u30d7\u30d9\u30f3\u30c0\u3068\u30d1\u30a4\u30d7\u9001\u308a\u6a5f\u69cb \u3000\u4efb\u610f\u65ad\u9762\u5f62\u72b6\u3092\u6709\u3059\u308b\u30d1\u30a4\u30d7\u3092\u8907\u96d1\u306a3\u6b21\u5143\u5f62\u72b6\u306b\u66f2\u3052\u52a0\u5de5\u3067\u304d\uff0c\u591a\u54c1\u7a2e\u5c11\u91cf\u751f\u7523\u306b\u5bfe\u5fdc\u53ef\u80fd\u306a\u30d1\u30a4\u30d7\u30d9\u30f3\u30c0\u30fc\u3092\u958b\u767a\u3059\u308b\u305f\u3081\uff0c\u9759\u6b62\u7bc0\u3068\u51fa\u529b\u7bc0\u304c3\u672c\u306e3-RPSR\uff08\u56de\u8ee2[Rebolute] &#8211; \u76f4\u9032[Prismatic] &#8211; \u7403[Spherical] &#8211; \u56de\u8ee2[Revolute]\uff09\u904b\u52d5\u9023\u9396\u306b\u3088\u308a\u9023\u7d50\u3055\u308c\u305f\u30d1\u30e9\u30ec\u30eb\u6a5f\u69cb\u3092\u7528\u3044\u305f\u88c5\u7f6e\u3092\u958b\u767a\u3057\u3066\u3044\u307e\u3059\uff0e\u3000\u958b\u767a\u3057\u305f\u88c5\u7f6e\u306f\uff0c\u300c\u51fa\u529b\u7bc0\u304c\u30d1\u30a4\u30d7\u9001\u308a\u8ef8\u5468\u308a\u306b\u7121\u9650\u56de\u8ee2\u53ef\u80fd\u300d\u30fb\u300c\u9ad8\u525b\u6027\u300d\u30fb\u300c\u5927\u304d\u306a\u59ff\u52e2\u89d2\u5909\u5316\u3092\u5b9f\u73fe\u53ef\u80fd\u300d\u7b49\u306e\u30d1\u30a4\u30d7\u66f2\u3052\u306b\u9069\u3057\u305f\u7279\u6027\u3092\u6709\u3057\u3066\u3044\u308b\u3053\u3068\u304c\u5b9f\u8a3c\u3055\u308c\u3066\u3044\u307e\u3059\uff0e \u6587\u732e\uff08\u30d1\u30a4\u30d7\u30d9\u30f3\u30c0\uff09\uff1a \u6587\u732e\uff08\u30d1\u30a4\u30d7\u628a\u6301\u30fb\u9001\u308a\u88c5\u7f6e\uff09\uff1a 2. \u826f\u597d\u306a\u904b\u52d5\u7279\u6027\u3092\u6709\u3059\u308b\u30d1\u30e9\u30ec\u30eb\u30e1\u30ab\u30cb\u30ba\u30e0 \u3000\u8fd1\u5e74\u3067\u306f\u30b3\u30f3\u30d4\u30e5\u30fc\u30bf\u5236\u5fa1\u6280\u8853\u304c\u6025\u901f\u306b\u767a\u5c55\u3057\u3066\u3044\u307e\u3059\u304c\uff0c\u5236\u5fa1\u5bfe\u8c61\u3067\u3042\u308b\u6a5f\u69cb\u306e\u904b\u52d5\u7279\u6027\u304c\u512a\u308c\u3066\u3044\u306a\u3051\u308c\u3070\u305d\u306e\u6069\u6075\u3092\u5341\u5206\u306b\u4eab\u53d7\u3059\u308b\u3053\u3068\u306f\u3067\u304d\u307e\u305b\u3093\uff0e\u5f53\u7814\u7a76\u5ba4\u3067\u306f\uff0c\u9ad8\u7cbe\u5ea6\u30fb\u5927\u51fa\u529b\u5909\u4f4d\u5e45\u30fb\u7701\u5165\u529b\u81ea\u7531\u5ea6\u7b49\u306e\u5b9f\u7528\u6027\u306b\u512a\u308c\u305f\u591a\u7a2e\u985e\u306e\u30ed\u30dc\u30c3\u30c8\u6a5f\u69cb\u304a\u3088\u3073\u305d\u306e\u904b\u52d5\u5236\u5fa1\u624b\u6cd5\u30fb\u30ad\u30e3\u30ea\u30d6\u30ec\u30fc\u30b7\u30e7\u30f3\u624b\u6cd5\u306e\u958b\u767a\u3092\u884c\u3044\uff0c\u52a0\u5de5\u6a5f\u3084\u798f\u7949\u6a5f\u5668\u306e\u958b\u767a\u306b\u5f79\u7acb\u3066\u3066\u3044\u307e\u3059\uff0e (1) \u4e26\u9032\u30d1\u30e9\u30ec\u30eb\u30e1\u30ab\u30cb\u30ba\u30e0 \u00a0\u00a03-RUU\u5f62\u6a5f\u69cb 3-RRRRR\u5f62\u6a5f\u69cb \u6587\u732e\uff1a (2) \u56de\u8ee2\u30d1\u30e9\u30ec\u30eb\u30e1\u30ab\u30cb\u30ba\u30e0 \u6587\u732e\uff1a (3) \u4e26\u5217\u7c97\u5fae\u52d5\u99c6\u52d5\u5f62\u30cf\u30a4\u30d6\u30ea\u30c3\u30c9\u30d1\u30e9\u30ec\u30eb\u30de\u30cb\u30d4\u30e5\u30ec\u30fc\u30bf \u4ed5\u69d8\uff1a \u6587\u732e\uff1a 3. \u5f3e\u6027\u30d2\u30f3\u30b8\u3092\u7528\u3044\u305f\u771f\u7a7a\u5bfe\u5fdc\u30fb\u7121\u767a\u5875\u30ed\u30dc\u30c3\u30c8 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