제어로봇시스템학회:학술대회논문집

Institute of Control, Robotics and Systems (제어로봇시스템학회)
권호 표지

Dynamic modeling and analysis for the stewart platform type of parallel robot

스튜어트 플랫폼형 평행식 로봇의 동역학적 모델링과 해석

  • 장형배 (한양대학교 대학원 전기공학과) ;
  • 한창수 (한양대학교 공과대학 기계공학과)
  • Published : 1992.10.01
Download PDF
⟨ Previous Next ⟩

Abstract

A dynamic modeling and analysis for the Stewart platform type of parallel robot is addressed. The dynamic modeling is performed based on the method of Kinematic Influence Coefficients(KIC) and transfering of the generalized coordinates. The optimum geometric configurations of the system that minimize the actuating forces at the linear actuator are found for several trajectories by using the optimization technique.

Keywords