제어로봇시스템학회논문지 (Journal of Institute of Control, Robotics and Systems)
- 제2권1호
- /
- Pages.45-52
- /
- 1996
- /
- 1976-5622(pISSN)
- /
- 2233-4335(eISSN)
스튜워트 플랫폼 메카니즘의 기구학적/동역학적 최적설계
Kinematic/dynamic optimal design of a Stewart Platform mechanism
- Yi, Byung-Ju (Dept. of Control and Instrumentation Engineering, Hanyang University) ;
- Kim, Whee-Kuk (Dept.of Control and Instrumentation Engineering, Korea University) ;
- Huh, Kum-Kang (Dept.of Control and Instrumentation Engineering, Korea University)
- 발행 : 1996.03.01
초록
This work deals with the kinematic and dynamic optimal design of a six degree-of-freedom Stewart Platform mechanism, which is actuated by six prismatic cylinfers. Composite design index is employed to deal with multi-criteria based design in a systematic manner, and a sequential design method is suggested, in which the results from the kinematic optimization are employed in the following dynamic optimization.