Transactions of the Korean Society of Mechanical Engineers A (대한기계학회논문집A)

The Korean Society of Mechanical Engineers (대한기계학회)
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A study on the design and characteristics of kinematics of 6 degree-of-freedom manipulators

6자유도 조작장치의 설계와 기구학적 특성에 관한 연구

  • 김정태 (대우전자(주) 전략기술 제1연구소) ;
  • 김문생 (부산대학교 기계설계공학과, 기계기술연구소)
  • Published : 1998.02.01
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Abstract

The Six Degree-of-Freedom manipulators are generally operated by linear actuators which are hydraulic cylinder, pneumatic cylinder, ball-screw. But these actuators are not adequate to have a wide work-space, and furthermore some of them have a self-locking property. Therfore, we have designed a new manipulator which fully overcomes these demerits. The new manipulating system consists of 6 DC-motors to generate operation forces and 6 position transducers to feedback displacement signals. This paper presents an overview of the design and characteristics of 6 Degree-of-Freedom force feedback manipulators for vitual reality implementation. we can operate Six Degree-of-Freedom manipulator with six motors and six potentiometers.

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