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A parallel link mechanism with six degrees of freedom using six electrohydraulic servo cylinders has large rigidity and support power. This feature is widely used for a driving device with multi degrees of freedom that has a heavy load and needs a large driving force. However, the research concerning the dynamic characteristics of this mechanism is scarce. This research aims at the systematic experimental and the theoretical analysis of the basic characteristics. A detailed mathematical model was made, and a transfer function was obtained by linear approximation. The desired signal that drives one servo cylinder is a sinusoidal wave, and the signals that drive the other five cylinders are constant value, respectively. The frequency response was measured. The calculation results coincide well with the experimentalresults.

nihon furudo pawa shisutemu gakkai rombunshuu

Dynamic Characteristics of Parallel Link Mechanism with Six Degrees of Freedom Using Hydraulic Cylinders 1st Report Frequency Response Analysis of a Servomechanism