High Accuracy Link Mechanism using Singular Configuration

Abstract:
In this paper, we introduce a new concept of high accuracy link mechanism using singular configuration of the mechanism. Theoretically, if the robot comes to the singular point, size of the angular velocity must be infinity. But we consider that; if large angle motion of joint is generated for constant moving distance of the link tip, it means that the link tip does not move even if the joint has some error. It suggests that the tip accuracy can become very precise. We develop a one d.o.f. linear motion mechanism. With peg-in-hole experiment, we verify the accuracy and that the trend of the accuracy is similar to the theoretical analysis.