한국정밀공학회:학술대회논문집 (Proceedings of the Korean Society of Precision Engineering Conference)
- 한국정밀공학회 1995년도 춘계학술대회 논문집
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- Pages.246-250
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- 1995
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- 2005-8446(pISSN)
병렬형 매니퓰레니타의 힘전달 특성에 관하여
On Force-Moment Transmission of Parallel Manipulator
초록
This paper presents a method in analyzing the output force/moments transmission form the applied input forces of the paralled manipulator. Like a serial manipulator the Jacobian matrix introduced in the paper plays role in relating the output forces/monents with the input forces. The force/moment manipulability have been investigated by considering the force transmission and momen transmission independently. Sensitivity analysis has been done and an illuatrating example is given.
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