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3자유도 병렬식 마이크로 매니퓰레이터의 기구학적 해석 및 설계

Title
3자유도 병렬식 마이크로 매니퓰레이터의 기구학적 해석 및 설계
Other Titles
Kinematic Analysis and Design for 3 DOF Parallel Micromanipulator
Author
한창수
Keywords
3 DOF Parallel Micromanipulator; Inverse Kinematics; Forward Kinematics; Flexure Joint; Shape Optimization; Compliant Mechanical Amplifier; PZT
Issue Date
2006-05
Publisher
한국생산제조학회
Citation
한국공작기계학회 2006 춘계학술대회 논문집, Page. 129 - 133
Abstract
This paper presents the development methodology of the 3 DOF Parallel Micromanipulator with the PZT-driven flexure hinge amplifier. For the fundamental kinematic configuration of manipulator, inverse and forward kinematics are simulated by Matlab programming. Through the kinematic simulation, the operation range of the platform and the workspace of end-effector are investigated. Under a given driving condition, the PZT-driven flexure hinge amplifier is designed by FEM and optimization tools.
URI
http://www.dbpia.co.kr/journal/articleDetail?nodeId=NODE00928677&language=ko_KRhttp://repository.hanyang.ac.kr/handle/20.500.11754/108013
Appears in Collections:
COLLEGE OF ENGINEERING SCIENCES[E](공학대학) > ROBOT ENGINEERING(로봇공학과) > Articles
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