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A study on the design and characteristics of kinematics of 6 degree-of-freedom manipulators

6자유도 조작장치의 설계와 기구학적 특성에 관한 연구

  • Published : 1998.02.01

Abstract

The Six Degree-of-Freedom manipulators are generally operated by linear actuators which are hydraulic cylinder, pneumatic cylinder, ball-screw. But these actuators are not adequate to have a wide work-space, and furthermore some of them have a self-locking property. Therfore, we have designed a new manipulator which fully overcomes these demerits. The new manipulating system consists of 6 DC-motors to generate operation forces and 6 position transducers to feedback displacement signals. This paper presents an overview of the design and characteristics of 6 Degree-of-Freedom force feedback manipulators for vitual reality implementation. we can operate Six Degree-of-Freedom manipulator with six motors and six potentiometers.

Keywords

6 Degree-of-Freedom;Manipulator;Forward Kinematics;Inverse Kinematics;Stewart Platform