Proceedings of the KSME Conference (대한기계학회:학술대회논문집)
- 2003.11a
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- Pages.1482-1487
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- 2003
Synthesis and Analysis of a New Class of Spatial4-DOF Parallel Mechanism with Two Platforms
두 개의 플랫폼을 가지는 새로운 타입의 공간 4 자유도 병력기구의 조합 및해석
Abstract
This paper presents a new family of 4-DoF parallel mechanism with two platforms. The new mechanism is composed of front and rear platforms, and three limbs. Two limbs with 6dof joint (P-P-S-P) are attached to the each platform and are perpendicular to baseplate, while the middle limb with 4-Dof joints (R-R-R-P or R-R-P-P) is attached to the revolute joint that connect front and rear platform. The two-DoF-driving mechanism at the middle limb with two base-fixed prismatic actuators can generate the heaving and roll motions or two translational motions. Therefore, Therefore, the new 4-Dof parallel mechanism (1T-3R) can generate pitch motions at each platforms, roll, and heaving motions, while another type of new 4-Dof parallel mechanism (2T-2R) can generate pitch motions at each platforms, x and z translational motions. For 1T-3R mechanism, kinematic analyses including inverse, forward kinematics, and Jacobian are performed.