대한기계학회논문집A (Transactions of the Korean Society of Mechanical Engineers A)
- 제22권2호
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- Pages.467-475
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- 1998
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- 1226-4873(pISSN)
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- 2288-5226(eISSN)
DOI QR Code
6자유도 조작장치의 설계와 기구학적 특성에 관한 연구
A study on the design and characteristics of kinematics of 6 degree-of-freedom manipulators
- Kim, Jeoung-Tae (Daewoo Elec) ;
- Kim, Moon-saeng (Busan National University)
- 발행 : 1998.02.01
초록
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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