4-RRPaRR구조의 Schönflies Motion Generator 기구학 특성 분석
- Title
- 4-RRPaRR구조의 Schönflies Motion Generator 기구학 특성 분석
- Other Titles
- Kinematic Characteristics of a 4-RRPaRR Type Schönflies Motion Generator
- Author
- 이병주
- Keywords
- Schönflies Motion Generator; Parallel Mechanism; Position Analysis; Kinematic Analysis; Optimal Design
- Issue Date
- 2011-03
- Publisher
- 한국로봇학회
- Citation
- 로봇학회 논문지, v. 6, NO. 1, Page. 78-85
- Abstract
- This article investigates kinematic characteristics of a Schönflies motion generator which represents a mechanism having translational three Degree-of-Freedom (DOF) and rotational one-DOF motion about a fixed axis. The mechanism consists of the base plate and the moving plate, and four identical limbs connecting them. Each limb employs two revolute joints (RR), one parallelogram (Pa), and two revolute joints (RR) from the base plate to the moving plate. The mechanism is driven by four actuators which are placed on the base plate to minimize dynamic loads. It is shown through simulations that the mechanism can be designed to secure large dexterous workspace and thus has very high potential for actual applications such as haptic devices and high-speed requiring tasks such as pick-and-place operations, riveting, screwing tasks, etc.
- URI
- https://www.kci.go.kr/kciportal/ci/sereArticleSearch/ciSereArtiView.kci?sereArticleSearchBean.artiId=ART001527937https://repository.hanyang.ac.kr/handle/20.500.11754/181073
- ISSN
- 1975-6291;2287-3961
- Appears in Collections:
- COLLEGE OF ENGINEERING SCIENCES[E](공학대학) > ELECTRICAL ENGINEERING(전자공학부) > Articles
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