Transactions of the Korean Society of Mechanical Engineers (대한기계학회논문집)

The Korean Society of Mechanical Engineers (대한기계학회)
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A Design of Linearized and Simplited Arm Dynamics for the Manipulator with a Paralled Drive Mechanism

평행사변형 구조를 갖는 매니퓰레이터 동역학의 선형화 및 단순화 설계

  • 최진태 (산업과학기술연구소, 기전연구분야) ;
  • 이병룡 (산업과학기술연구소) ;
  • 정규원 (산업과학기술연군소 기전연구분야)
  • Published : 1989.09.01
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Abstract

An inertia redistribution technique for liberalizing and reducing the complexity of manipulator dynamics with a parallel drive mechanism is presented in this paper. The dynamic design method is based on eliminating nonlinear terms, such as Coriolis, centrifugal and gravity torque in the kinetic and the potential energy of a manipulator. A set of design criteria regarding the inertia properties of links is derived. The resulting manipulator dynamics can be greatly simplified for each robot. This paper particularly presents that it is possible to completely linearize the manipulator dynamics with a parallel drive mechanism.

본 연구에서는 평행 사변형 구조를 갖는 매니퓰레이터의 운동에너지와 포텐셜 에너지를 구하고, 운동 에너지 식에서 매니퓰레이터 관성 모멘트 행렬 (manipulator inertia matrix)를 구한다.

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