Kinematic Manipulability Analysis of the Casing Oscillator

케이싱 오실레이터의 기구학적 조작성 해석

  • 남윤주 (부산대학교 대학원) ;
  • 박명관 (부산대학교 기계공학부 및 기계기술연구소)
  • Published : 2004.07.01


In this paper, input-output velocity and force transmission characteristics of the Casing Oscillator which is a construction machine with 4 degrees of freedom are examined. After the Jacobian matrix is decomposed into the linear part and angular part, the velocity and force transmission characteristics for the linear and angular workspace are easily analyzed and visualized even if the Casing Oscillator has the spatial dimensional workspace with 4 DOF. Regarding the manipulability measure of the Casing Oscillator, the kinematic isotropic index and the manipulability measure which represent the isotropy and volume of the manipulability ellipsoid, respectively, are combined to coincidently consider them with respect to equivalent ranges and fluctuations. A performance of the Casing Oscillator is evaluated by the newly proposed manipulability measures.


Casing Oscillator;Jacobian Matrix;Kinematic Isotropic Index;Manipulability Ellipsoid;Manipulability Measure


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