특정 병진작업경로에서 최소의 관절힘을 받는 병렬형 매니퓰레이터의 설계

Abstract

Recently, need of the parallel manipulator requiring superior precision is Increasing for medical application and precision manufacturing. Inthis study, we convert a given complex translation trajectory of the moving platform into a set of segments and hence a complex motion of the moving platform can be tracable and easily controled in avery limited workspace. In dddition force exerted. to each link is minimized so that the mintmized force can be transmitted to the end effector of the moving platform. An user friendly program id developed to design Gough-type 6DOF parallel manupulator based on the proposed method.