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

The Korean Society of Mechanical Engineers (대한기계학회)
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The 6-DOF Parallel Manipulator Having the Specific Trajectory Based on the Kinematic Isotropy

기구학적 등방성을 고려한 특정작업경로를 가진 6-DOF 병렬형 매니퓰레이터

  • 양현익 (한양대학교 기계정보경영공학부) ;
  • 허원혁 (한양대학교 공과대학원 기계설계학과)
  • Published : 2004.05.01
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Abstract

In this paper, kinematic structure of parallel manipulator having 6-DOF is determined to follow the specific trajectory represented by several curves expressed by the parametric variable functions. In addition, the parallel manipulator is designed to have a high dexterity by considering a kinematic isotropy which can stabilize the motion of the moving platform in the restricted workspace.

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References

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