복합병렬형 로봇의 최적설계

Optimal design of a hybrid parallel robot is investigated. In order to optimize the mechanism, new performance measures are introduced since use of the previous methods suffer form lack of the physical meaning due to the dimensional inhomogeneity. To overcome the problem, an Euclidean norm definition of each output space with homogeneous dimension is used to find input-output norm relation and derive new performance measures for each output spaces, that is, translational and rotational velocity, and derive new torque space. For illustion,the derived performance measures is applied to find the isotropic design of a Stewart platform robot which has condition number measures equal to one.