Proceedings of the KSME Conference (대한기계학회:학술대회논문집)
- 2003.11a
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- Pages.1500-1505
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- 2003
Inverse and Forward Force Transmission Analyses of Parallel Manipulators using Dimensionally Homogeneous Jacobian Matrices
유니트 일치된 자코비안 행렬을 이용한 병렬구조 로봇의 힘전달 해석
- Kim, Sung-Gaun (Department of Mechatronics, Kwangju Institute of Science and Technology) ;
- Ryu, Je-Ha (Department of Mechatronics, Kwangju Institute of Science and Technology)
- Published : 2003.11.05
Abstract
In order to avoid the unit inconsistency problem in the conventional Jacobian matrix, previously we presented new formulation of a dimensionally homogeneous inverse Jacobian matrix for parallel manipulators with a planar mobile platform by using three end-effector points based on the velocity relationship [1]. This paper presents force relationships between joint forces and Cartesian forces at the three End-Effector points. The derived force relationships can then be used for analyses of the input/output force transmission. These analyses, forward and inverse force transmission analyses, depend on the singular values of the derived dimensionally homogeneous Jacobian matrix. Using the proposed force relationship, a numerical example is presented for actuator size design of a 3-RRR planar parallel manipulator.