한국정밀공학회지 (Journal of the Korean Society for Precision Engineering)

  • 제31권10호
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  • Pages.897-904
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  • 2014
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  • 1225-9071(pISSN)
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  • 2287-8769(eISSN)
한국정밀공학회 (Korean Society for Precision Engineering)
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2 자유도 병렬 메니퓰레이터의 동적 모델링

Dynamic Modeling of 2 DOF Parallel Manipulator

  • Lee, Jong Gyu (Institute of Mechanical Engineering Technology, Kyungpook National University) ;
  • Lee, Sang Ryong (School of Mechanical Engineering, Kyungpook National University) ;
  • Lee, Choon Young (School of Mechanical Engineering, Kyungpook National University) ;
  • Yang, Seung Han (School of Mechanical Engineering, Kyungpook National University)
  • 투고 : 2013.10.15
  • 심사 : 2014.06.29
  • 발행 : 2014.10.01
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초록

In this paper, two-DOF parallel manipulator has the sliders which execute a linear reciprocating motion depending on parallel guides and the end-effector which can be adjusted arbitrarily. To investigate the dynamic characteristics of the manipulator, the dynamic performance index is used. The index is able to be obtained by the relation between the Jacobian matrix and the inertia matrix. The kinematic and the dynamic analysis find these matrices. Also, the dynamic model of the manipulator is derived from the Lagrange formula. This model represents complicated nonlinear equations of motion. With the simulation results of the dynamic characteristic of the manipulator, we find that the dynamic performance index is based on the selection of the ranges for the continuous movement of the manipulator and the dynamic model derived can be used to the control algorithm development of the manipulator.

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참고문헌

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