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스트워트 플랫폼 구조를 구속하여 얻어지는 병진형 3 자유도 병렬 메커니즘의 정위치 해석해와 기구학 해석 및 구현A Forward Closed-Form Position Solution, Kinematic Analysis And Implementation of a Translational 3-DOF Parallel Mechanism Formed by Constraining a Stewart Platform Structure
- Other Titles
- A Forward Closed-Form Position Solution, Kinematic Analysis And Implementation of a Translational 3-DOF Parallel Mechanism Formed by Constraining a Stewart Platform Structure
- Issue Date
- Oct-2006
- Publisher
- 제어·로봇·시스템학회
- Keywords
- closed-form position solution; kinematic analysis; parallel mechanism; stewart platform; closed-form position solution; kinematic analysis; parallel mechanism; stewart platform
- Citation
- 제어.로봇.시스템학회 논문지, v.12, no.10, pp.1035 - 1043
- Indexed
- KCI
- Journal Title
- 제어.로봇.시스템학회 논문지
- Volume
- 12
- Number
- 10
- Start Page
- 1035
- End Page
- 1043
- ISSN
- 1976-5622
- Abstract
- In this study, a translational 3-DOF parallel mechanism formed by constraining the Stewart Platform Mechanism is investigated. The translational 3-DOF parallel mechanism has three struts(3-UPS type serial subchains) and in addition, has a PPP type serial subchain in the middle of the mechanism. Firstly, the closed-form forward and reverse position solutions are derived for this mechanism. And analysis on kinematic characteristics using isotropic index of the Jacobian is conducted to examine effects of design parameters for the mechanism. Lastly, a prototype mechanism is implemented and the kinematic performance of the translational 3-DOF parallel mechanism was verified through experimental work.
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Related Researcher
- Shin, Dong min
- ERICA 공학대학 (DEPARTMENT OF INDUSTRIAL & MANAGEMENT ENGINEERING)