Proceedings of the Korean Society of Precision Engineering Conference (한국정밀공학회:학술대회논문집)
- 2004.10a
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- Pages.525-529
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- 2004
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- 2005-8446(pISSN)
Analysis on Kinematic Characteristics for a Translational 3-DOF Parallel Mechanism with Constrained Stewart Platform Structure
스튜워트 플랫폼 구조를 이용한 병진 3-자유도 병렬 메커니즘의 기구학 특성 분석
Abstract
A novel translational 3-dof parallel mechanism is proposed and analyzed. The mechanism consists of three RRPS serial subchains and an additional passive 3-dof type serial subchain. Three RRPS serial subchains alone may form a structure of the 6-DOF Stewart Platform mechanism. However, in the proposed mechanism, an additional passive serial subchain acts as constraints to restrict the output motion of the mechanism in 3-DOF translational space. The closed form position solutions of the proposed mechanism and its first-order kinematic model are derived. Then its workspace size and kinematic characteristics are examined via kinematic isotropic index.
Keywords
- Stewart Platform;
- Parallel Mechanism;
- Closed-form Solution;
- Kinematic Analysis;
- Kinematic Isotropic Index
- 스튜워트 플랫폼;
- 병렬 메커니즘;
- 해석해;
- 기구학 해석;
- 기구학 등방성 지수;