한국정밀공학회지 (Journal of the Korean Society for Precision Engineering)

  • 제20권3호
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  • Pages.97-104
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  • 2003
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  • 1225-9071(pISSN)
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  • 2287-8769(eISSN)
한국정밀공학회 (Korean Society for Precision Engineering)
권호 표지

간단한 정기구학을 갖는 평면운동용 병렬 매니플레이터의 구동영역 및 기구학적 특성

Workspace and Kinematical Characteristics of Planar Parallel Manipulator with Simple

  • 최기봉 (한국기계연구원 지능형정밀기계연구부 로봇제어그룹)
  • 발행 : 2003.03.01
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초록

This paper proposes a new parallel manipulator fur plane motion, and then discusses on the workspace and kinematical characteristics of the manipulator. The conventional planar parallel manipulators have some disadvantages which are complex non-closed type direct kinematics, workspaces containing useless voids, and concave type border tines of workspaces. The proposed planar parallel manipulator overcomes the above disadvantages, that is, the manipulator has simple closed type direct kinematics, a void-free workspace, and a convex type borderline of a workspace. This paper shows the simulation result of the workspace as well as performances indices using a homogeneous inverse Jacobian.

키워드

참고문헌

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