Characteristic Analysis and Optimization of Novel Parallel Mechanism with Wide Movable Area

本研究提出了一种新型大活动面积并联机构。并对该机构进行了特性分析和优化。具体地说，提出了用销接头代替球接头的机理。通过搜索第二奇异点的分布，分析了机构的特性。此外，还研究了标准姿态的优化问题。所提议的机制的有效性得到了证实。

This research proposed a novel parallel mechanism with wide movable area. Moreover, a characteristic analysis and optimization of the mechanism was investigated. Concretely, the mechanism that replaced ball joints by pin joints was proposed. And characteristic of the mechanism was analyzed by searching a distribution of the second singularity points. Moreover, optimization of a standard posture was investigated. The effectiveness of the proposed mechanism was confirmed.