케이싱 오실레이터의 순기구학 해석

Forward Kinematic Analysis of Casing Oscillator

  • 남윤주 (부산대학교 대학원 지능기계공학과) ;
  • 박명관 (부산대학교 기계공학부 및 기계기술연구소)
  • 발행 : 2004.12.01


This paper presents the forward kinematics of the Casing Oscillator that is a construction machine. The Structure of the Casing Oscillator is similar to those of 4 degree-of-freedom mechanisms with a redundancy. With analytical (geometrical) methods, the solutions of the forward position kinematics problem are significantly found by both solving an 8$^{th}$ -order polynomial equation in one unknown variable and using one over-constraint geometrical equation which can be derived under the condition of a redundancy. The proposed forward kinematics has closed-form solutions and allows Auto-Balancing control of the moving platform in real time. Numerical examples are presented and the results are verified by an inverse kinematics analysis.


케이싱 오실레이터;순기구학;병렬형 매니퓰레이터


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