Journal of Korea Game Society (한국게임학회 논문지)

Korea Game Society (한국게임학회)
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A Study on Translational and Rotational Velocity Performance Indices of Six-Degree-of-Freedom parallel Mechanism

6자유도를 갖는 병렬형 기구의 병진속도와 회전속도 성능 지표에 관한 연구

  • 김찬수 (호남대학교 게임애니메이션학과)
  • Received : 2010.11.05
  • Accepted : 2010.11.30
  • Published : 2010.12.20
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Abstract

In this paper, mobility performance indices are proposed which may be used to estimate characteristics of output velocity space in six-degree-of-freedom parallel mechanism. In order for manipulability and condition number to not suffer from lack of the physical meaning due to dimensional inhomogeneity, output space is partitioned into translational velocity space and rotational velocity space, respectively. In each space, mobility ellipsoids corresponding to unit input space are defined and two types of mobility performance in translational velocity spaces indices are derived. Two types of mobility performance in rotational velocity spaces indices are derived.

본 논문에서는 6자유도를 갖는 병렬형 기구의 출력 속도 공간에서 성능을 평가할 수 있는 지표를 제안하였다. Manipulability와 condition number에 기반을 둔 성능 지표가 단위계의 볼일치로 인한 물리적 의미의 결함이 없도록 출력공간을 병진속도 공간과 회전속도 공간으로 분리하는 방법을 제안하였다. 각 공간에서 단위 입력에 대용하는 mobility ellipsoid를 정의하여 이를 기반으로 병진운동 출력공간에서 두 종류 성능 지표와 회전운동 공간에서 두 종류의 성능 지표를 제안하였다.

Keywords

References

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