여유자유도를 가진 3-SPS/S 병렬 메커니즘의 등각 기하대수를 이용한 기하학적 특이점 회피

Title
여유자유도를 가진 3-SPS/S 병렬 메커니즘의 등각 기하대수를 이용한 기하학적 특이점 회피
Other Titles
Geometric Singularity Avoidance of a 3-SPS/S Parallel Mechanism with Redundancy using Conformal Geometric Algebra
Authors
박장현
Keywords
Inverse kinematics; Geometric singularity; 3-SPS/S parallel mechanism; Redundancy; Conformal geometric algebra; 역기구학; 기하학적 특이점; 3-SPS/S 병렬 메커니즘; 여유자유도; 등각기하대수
Issue Date
2015-03
Publisher
한국정밀공학회
Citation
한국정밀공학회지, v. 32, NO 3, Page. 253-261
Abstract
A parallel mechanism with redundancy can be regarded as a means for not only maximizing the benefits of parallel mechanisms but also overcoming their drawbacks. We proposed a novel parallel mechanism by eliminating an unnecessary degree of freedom of the configuration space. Because of redundancy, however, the solution for the inverse kinematics of the developed parallel mechanism is infinite. Therefore, we defined a cost function that can minimize the movement time to the target orientation and found the solution for the inverse kinematics by using a numerical method. In addition, we proposed a method for determining the boundary of the geometric singularity in order to avoid singularities.
URI
http://www.dbpia.co.kr/Journal/ArticleDetail/NODE06156300http://hdl.handle.net/20.500.11754/23163
ISSN
1225-9071; 2287-8769
DOI
http://dx.doi.org/10.7736/KSPE.2015.32.3.253
Appears in Collections:
COLLEGE OF ENGINEERING[S](공과대학) > DEPARTMENT OF AUTOMOTIVE ENGINEERING(미래자동차공학과) > Articles
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