The Journal of Korea Robotics Society (로봇학회논문지)

Korea Robotics Society (한국로봇학회)
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Kinematic Characteristics of a 4-RRPaRR Type Schönflies Motion Generator

4-RRPaRR구조의 Schönflies Motion Generator 기구학 특성 분석

  • 김성목 (고려대학교 대학원 제어계측공학과) ;
  • 이병주 (한양대학교 전자시스템공학과) ;
  • 김희국 (고려대학교 대학원 제어계측공학과)
  • Received : 2010.09.10
  • Accepted : 2010.12.09
  • Published : 2011.02.28
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Abstract

This article investigates kinematic characteristics of a Sch$\ddot{o}$nflies motion generator which represents a mechanism having translational three Degree-of-Freedom (DOF) and rotational one-DOF motion about a fixed axis. The mechanism consists of the base plate and the moving plate, and four identical limbs connecting them. Each limb employs two revolute joints (RR), one parallelogram (Pa), and two revolute joints (RR) from the base plate to the moving plate. The mechanism is driven by four actuators which are placed on the base plate to minimize dynamic loads. It is shown through simulations that the mechanism can be designed to secure large dexterous workspace and thus has very high potential for actual applications such as haptic devices and high-speed requiring tasks such as pick-and-place operations, riveting, screwing tasks, etc.

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