한국정밀공학회:학술대회논문집 (Proceedings of the Korean Society of Precision Engineering Conference)
- 한국정밀공학회 1996년도 추계학술대회 논문집
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- Pages.781-786
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- 1996
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- 2005-8446(pISSN)
평면형 3 자유도 병렬 메카니즘의 정밀도 특성에 관한 연구
Study on the Precision Characteristics of a Planar 3 Degrees-of-Freedom Parallel Mechanism
- Kim, Jae-Sub (Graduate School Korea Univ.) ;
- Kim, Hee-Guk (Korea University) ;
- Cho, Hwang (Kwangwoon Univ.)
- 발행 : 1996.11.01
초록
In this paper, output precision characteristic of planar 3 and 6 degree-of-freedom parallel mechanisms are investigated. The 6 degree-of-freedom mechanism is formed by adding an additional small link along with an actuated joint in each of serial subchain of the 3 degree-of-freedom mechanism. First, kinematic analysis for two parallel mechanisms are performed, then their first-order kinematic characteristics are examined via isotropic index and minimum velocity transmission ratio of the mechanisms. It can be concluded that the planar 6 degrees-of-freedom parallel mechanism can be very effectively employed as a high-precision macro-micro manipulator from the analysis results when its link lengths are properly chosen.
키워드