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Kinimatic Analysis of a New Clss of 6-DOF Parallel Manipulator
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 Title & Authors
Kinimatic Analysis of a New Clss of 6-DOF Parallel Manipulator
Byun, Yong-Kyu; Jo, Hyung-Suck;
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 Abstract
In this paper, a new kinematic structure of a parallel manipulator with six Cartesian degrees of freedom is proposed. It consists of a platform which is connected to a fixed base by means of 3-PPSP(parameters P, S denote the prismatic, spherical joints) subchains. Each subchain has a link which is concected to a passive prismatic joint at the one end and a passive spherical joint at the other. The spherical joint is then attached to perpendicularly arranged prismatic actuators which are fixed at the base. The spherical joint is then attached to perpendicularly arranged prismatic actuators which are fixed at the base. This arrangement provides a basis to control all six Cartesian degrees of motion of the platform in space. Due to its efficient architecture, the colsed-form solutions of the inverse and forward kinematics can be obtained. As a consequence, this new kinematic structure can be servo controlled using simple inverse kinematics becaese forward kinematics allows for measuring the platform's position and orientation in Cartesian space. Furthermore, the proposed structure provides an effective functional workspace. Series of simulations are performed to verify the results of the kinematics analyses.
 Keywords
Parallel Manipulator;Forward Kinematics;Inverse Kinematics;Closed-Form Solution;
 Language
Korean
 Cited by
1.
위치 피드백 제어를 이용한 케이싱 오실레이터의 실시간 오토밸런싱에 관한 연구,이은준;김주영;백재호;박명관;

대한기계학회논문집A, 2003. vol.27. 5, pp.688-696 crossref(new window)
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