@article{oai:muroran-it.repo.nii.ac.jp:00005684,
 author = {王, 少遅 and WANG, SHAOCHI and 疋田,  弘光 and HIKITA, Hiromitsu and HANAJIMA,  Naohiko and 花島, 直彦 and 山下,  光久 and YAMASHITA, Mitsuhisa and 趙, 永生 and ZHAO, Yongsheng},
 issue = {615},
 journal = {日本機械学会論文集. C編},
 month = {Nov},
 note = {application/pdf, This paper is concerned with a novel type of small 6 D. O. F. RTS fully parallel manipulator with elastic joints. The elastic joints are used to realize highly precise operation of the manipulater. Rotary input is applied to drive six groups of four-bar linkages in this mechanism. We establish two displacement equtations of the mechanism and present the inverse kinematic analysis including the motion of four-bar linkages. The bending and torsional deformations of elastic joints are further investigated from the kinematic viewpoint of the mechanism. Then we derive elastic moments and torques for the case that the motion can be described by the linear model in the elastic deformation range. Finally, we obtain an equivalent force-balance-equation of the 6 D. O. F. parallel mechanism where all the elastic moments and torques and all the input torques and loads of the upper platform are included.},
 pages = {3984--3990},
 title = {弾性関節を用いた6自由度RTS型パラレルプラットフォーム機構 (運動分析および力釣合い方程式)},
 volume = {63},
 year = {1997},
 yomi = {ヒキタ, ヒロミツ and ハナジマ, ナオヒコ and ヤマシタ, ミツヒサ}
}