Development of 6 DOF Positioning Manipulator Using Closed Loop Structure and Its Kinematic Analysis

폐루프 구조를 가지는 6 자유도 머니퓰레이터의 개발 및 기구학적 해석

  • 김경찬 (한국과학기술원 기계공학과) ;
  • 우춘규 (한국과학기술원 기계공학) ;
  • 김수현 (한국과학기술원 기계공학) ;
  • 곽윤근 (한국과학기술원 기계공학과)
  • Published : 1998.01.01

Abstract

Parallel link manipulators have an ability of more precise positioning than serial open-loop manipulators. However. general parallel link manipulators have been restricted to the real applications since they have limited workspace due to interference among actuators. In this study, we suggest a closed-loop manipulator with 6 degrees-of-freedom and with enlarged workspace. It consists of two parts for minimizing the interference among actuators. One part is lower structure with planar 3 degrees-of-freedom and the other is upper one with spatial 3 degrees-of-freedom. Forward kinematics and inverse kinematics are solved, research about singularity points are carried out and workspace is evaluated. The comparison of workspace between Stewart platform, which is the typical parallel link manipulator, and the suggested manipulator shows that the workspace of the latter is wider than that of the former. Especially, simulation results also show that the suggested manipulator is more suitable when there needs rotation in the end-effector.

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