Link Length Control using Dynamics for Parallel Mechanism with Adjustable Link Parameters -Verification with Experiment using Actual Mechanism-

There has been always a workspace problem with parallel mechanisms. We have proposed a parallel mechanism with linear passive joints to adjust link length. This parallel mechanism can have different workspaces by adjusting link length. When these workspaces are combined, it has larger workspace. We have tried to control the link lengths of this parallel mechanism not actively but passively using dynamics. We have presented the possibility of the proposed control algorithm of these passive linear joints to adjust the link lengths using dynamics with the simulation. This paper has investigated with the experiments in the case of a simple planer prototype.