구형 3 자유도 메카니즘의 잉여관절 콤플라이언스와 상반토크로 인한 출력 콤플라이언스 효과

Output Compliance Effects By Both Redundant Joint Compliances and Antagonistic Torques of A Spherical 3-DOF Mechanism

In this paper, output compliance effects at RCC point by both redundant joint compliances and antagonistic torques generated by internal preloading between joints of a spherical 3 degree-of-freedom mechanism are investigated. For this purpose, kinematic analysis is briefly described. Then, output compliance models at RCC point, which is generated by redundant joint compliances and by internal preloading between joints are derived. Finally, ranges of output compliance modulation due to these redundant joint compliances and antagonistic torques are examined through simulation.