Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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A Forward Closed-Form Position Solution, Kinematic Analysis And Implementation of a Translational 3-DOF Parallel Mechanism Formed by Constraining a Stewart Platform Structure

스트워트 플랫폼 구조를 구속하여 얻어지는 병진형 3 자유도 병렬 메커니즘의 정위치 해석해와 기구학 해석 및 구현

  • 신동민 (고려대 제어계측공학과 대학원) ;
  • 정재헌 (한양대 전자컴퓨터공학부 대학원) ;
  • 오세민 (한양대 전자컴퓨터공학부 대학원) ;
  • 이병주 (한양대 전자컴퓨터공학부) ;
  • 김희국 (고려대 제어계측공학과)
  • Published : 2006.10.01
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Abstract

In this study, a translational 3-DOF parallel mechanism formed by constraining the Stewart Platform Mechanism is investigated. The translational 3-DOF parallel mechanism has three struts(3-UPS type serial subchains) and in addition, has a PPP type serial subchain in the middle of the mechanism. Firstly, the closed-form forward and reverse position solutions are derived for this mechanism. And analysis on kinematic characteristics using isotropic index of the Jacobian is conducted to examine effects of design parameters for the mechanism. Lastly, a prototype mechanism is implemented and the kinematic performance of the translational 3-DOF parallel mechanism was verified through experimental work.

Keywords

References

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