Development of parallel manipulator "NINJA" with ultra-high-acceleration

• DOI: 10.1109/robot.2003.1242161
• Publication Date: 2004-03-30T17:17:26Z
• Authors: K. Nagai; M. Matsumoto; K. Kimura; B. Masuhara
• Keywords: Linear acceleration; Manipulator (device)

This paper describes the process of developing parallel mechanism "NINJA ", which is designed to achieve an acceleration rate over 100 [G] (G: gravitational acceleration). To design this mechanism, we introduce a two-step method (an optimum method). The technical part consists formulating problem two steps: Step 1, where assume and select parameters, should satisfy required specifications, 2, optimize parameters under constraint conditions based on specifications. demonstrate performance, present experimental results using prototype NINJA.