대한기계학회:학술대회논문집 (Proceedings of the KSME Conference)
- 대한기계학회 2004년도 추계학술대회
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- Pages.573-578
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- 2004
역나선 이론을 이용한 저자유도 평행구조 기구의 강성해석
Stiffness Analysis of a Low-DOF Parallel Manipulator using the Theory of Reciprocal Screws
초록
This paper presents a methodology for the stiffness analysis of a low-DOF parallel manipulator. A low-DOF parallel manipulator is a spatial parallel manipulator which has less than six degrees of freedom. The reciprocal screws of actuations and constraints in each leg can be determined by making use of the theory of reciprocal screws, which provide information about reaction forces due to actuations and constraints. When pure force is applied to a leg, the leg stiffness is modeled as a linear spring along the line. For pure couple, it is modeled as a rotational spring about the axis. It is shown that the stiffness model of an F-DOF parallel manipulator consists of F springs related to actuations and 6-F springs related to constraints connected from the moving platform to the base in parallel. The
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