제어로봇시스템학회:학술대회논문집
- 2005.06a
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- Pages.302-307
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- 2005
Optimum Design of a New 4-DOF Parallel Mechanism
- Chung, Jae-Heon (School of Electrical Engineering and Computer Science, Hanyang University) ;
-
Yi, Byung-Ju
(School of Electrical Engineering and Computer Science, Hanyang University)
;
- Kim, Whee-Kuk (Department of Control and Instrumentation, Korea University)
- Published : 2005.06.02
Abstract
Recently, lots of parallel mechanisms for spatial 3-DOF and 6-DOF were investigated. However, research on 4-DOF and 5-DOF parallel mechanisms has been very few. In this paper, we propose a 4-DOF parallel mechanism that consists of 3-rotational and 1-translational motions. The kinematic characteristics of this mechanism are analyzed in terms of an isotropic index and maximum force transmission ratio, and its kinematic optimization is being conducted to ensure enhanced kinematic performances