Proceedings of the Korean Society of Precision Engineering Conference (한국정밀공학회:학술대회논문집)
- 1994.10a
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- Pages.611-616
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- 1994
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- 2005-8446(pISSN)
Analysis of a Planar 3 DOF RCC Mechanism using Prismatic Joint Compliances
미끄럼 관절 콤플라이언스를 활용한 평면형 3 자유도 RCC 메카니즘의 해석
Abstract
Most of Commercial Remote Center Compliance(RCC) devices have been designed using deforma ble structures. In this work, we propose another type of assembly devices which generate the compliance effec ts by attaching the compliances (or spring) at the prismatic joints of the griven mechainsm. First, the kinematic analysis for a parallel-type planar 3-degree-of-freedom mechanism is performed using modified transfer method of generalized coordinate. Then, compliance characteristics for the mechanism using prismatic joint compliances are investigated. In particular, when the system maintains its symmetric configuration, the mechanism is show n to have RCC points at the center of the workspace. Finally, sensitivity analysis around RCC points is perfor med.
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