구형 3자유도 병렬메커니즘의 기구학 해석 및 구현
- Title
- 구형 3자유도 병렬메커니즘의 기구학 해석 및 구현
- Other Titles
- Kinematic Analysis and Implementation of a Spherical 3-Degree-of-Freedom Parallel Mechanism
- Author
- 이병주
- Keywords
- Parallel Mechanism(병렬 메커니즘); Closed-form Solution(해석해); Kinematic Analysis(기구학 해석); Kinematic Isotropic Index(기구학 등방성 지수)
- Issue Date
- 2005-11
- Publisher
- 한국정밀공학회
- Citation
- 한국정밀공학회지, v. 22, No. 11, Page. 72 - 81
- Abstract
- A new spherical-type 3-degree-of-freedom parallel mechanism consisting of a two degree-of-freedom parallel module and a serial module is proposed. Two alternative designs for the serial sub-chain are suggested and compared. The first design employs RU joint arrangement for the serial sub chain structure. The second design incorporates a gear chain to drive the distal revolute joint of the serial sub-chain from the base platform of the mechanism. This modification significantly improves kinematic characteristics of the mechanism within its workspace. Firstly, the closed-form solutions of both the forward and the reverse position analysis are derived. Secondly, the first-order kinematic model with respect to three inputs which are located at the base is derived. Thirdly, it is confirmed through simulation that the modified mechanism has much more improved isotropic characteristic throughout the workspace of the mechanism. Lastly, the proposed mechanism is implemented to verify the results from this analysis.
- URI
- http://www.dbpia.co.kr/journal/articleDetail?nodeId=NODE00854950&language=ko_KRhttps://repository.hanyang.ac.kr/handle/20.500.11754/112105
- ISSN
- 1225-9071
- Appears in Collections:
- COLLEGE OF ENGINEERING SCIENCES[E](공학대학) > ELECTRICAL ENGINEERING(전자공학부) > Articles
- Files in This Item:
There are no files associated with this item.
- Export
- RIS (EndNote)
- XLS (Excel)
- XML