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Analysis of Two 3-DOF Parallel Mechanisms with Constrained Stewart Platform Structure
- Authors
- Lee, Seok-Hee; Kim, Whee-Kuk; Yi, Byung-Ju; Suh, Il-Hong
- Issue Date
- May-2006
- Publisher
- IEEE
- Keywords
- Stewart platform; parallel mechanism; position analysis; kinematic analysis; kinematic isotropic index
- Citation
- Proc. of IEEE Intl. Conf. on Robotics and Automation, v.2006, pp 4227 - 4233
- Pages
- 7
- Indexed
- SCIE
SCOPUS
- Journal Title
- Proc. of IEEE Intl. Conf. on Robotics and Automation
- Volume
- 2006
- Start Page
- 4227
- End Page
- 4233
- ISSN
- 1050-4729
- Abstract
- Two 3-DOF parallel mechanisms, a translational mechanism and a spherical mechanism, are analyzed. Each of two mechanisms commonly possesses three UPS serial subchains, and an additional passive 3-DOF PPP-type serial subchain and a passive 3-DOF RRR-type serial sub-chain are incorporated for the translational device and the rotational device, respectively. Such additional passive serial sub-chains act as constraints to restrict the output motion of the mechanism either in a 3-DOF translational space or in a 3-DOF spherical space. The position solutions of the proposed mechanisms and their first-order kinematic models are derived. Then their workspaces and kinematic characteristics are examined via the kinematic isotropic index.
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Related Researcher
- Yi, Byung Ju
- ERICA 공학대학 (SCHOOL OF ELECTRICAL ENGINEERING)