Kinematics Optimization of A 3-SPS Parallel Redundant Motion Mechanism using Conformal Geometric Algebra
- Authors
- Park, Jahng Hyon; Kim, Jeseok; Jeong, Jin Han
- Issue Date
- Nov-2014
- Publisher
- International Association of Computer Science and Information Technology
- Citation
- 2014 International Conference on Mechanical Manufacturing and Control, pp.1 - 7
- Indexed
- SCOPUS
- Journal Title
- 2014 International Conference on Mechanical Manufacturing and Control
- Start Page
- 1
- End Page
- 7
- URI
- https://scholarworks.bwise.kr/hanyang/handle/2021.sw.hanyang/158593
- DOI
- 10.4028/www.scientific.net/AMM.789-790.889
- ISSN
- 1660-9336
- Abstract
- In this paper, an actuation mechanism for high-speed aiming of a target is proposed. The mechanism is a 3DOF-SPS (spherical-prismatic-spherical) parallel manipulator and can be used for a missile defense system with a fast reaction time. This type of parallel mechanism has high rigidity against external disturbances and accordingly high stiffness and precision. The target aiming requires 2 degrees of freedom and this 3 DOF mechanism has one redundancy. For fast manipulation of the proposed mechanism, the redundancy can be exploited and an optimal solution can be found out of the infinite number of inverse kinematic solutions. For finding a near time-optimal solution, a cost function is formulated considering displacement of each parallel link and an optimization technique is used for solution of the inverse kinematic problem.
- Files in This Item
-
Go to Link
- Appears in
Collections - 서울 공과대학 > 서울 미래자동차공학과 > 1. Journal Articles
Items in ScholarWorks are protected by copyright, with all rights reserved, unless otherwise indicated.