Journal of Power System Engineering (동력기계공학회지)

The Korean Society for Power System Engineering (한국동력기계공학회)
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Dynamic Force Analysis of the 6-DOF Parallel Manipulator

  • Tanaka, Yoshito (Korea Brain Pool Researcher, Korea Institute of Machinery & Materials) ;
  • Yun, So-Nam (Department of Extreme Energy Systems, Korea Institute of Machinery & Materials) ;
  • Hitaka, Yasunobu (Department of Control and Information Engineering, Kitakyusyu National College Technology) ;
  • Wakiyama, Masahiro (Department of Control and Information Engineering, Kitakyusyu National College Technology) ;
  • Jeong, Eun-A (Department of Extreme Energy Systems, Korea Institute of Machinery & Materials) ;
  • Kim, Ji-U (Department of Extreme Energy Systems, Korea Institute of Machinery & Materials) ;
  • Park, Jung-Ho (Department of Extreme Energy Systems, Korea Institute of Machinery & Materials) ;
  • Ham, Young-Bog (Department of Extreme Energy Systems, Korea Institute of Machinery & Materials)
  • Received : 2015.07.30
  • Accepted : 2015.11.18
  • Published : 2015.12.31
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Abstract

The 6DOF (degrees of freedom) Parallel Manipulators have some advantages that are high power, high rigidity, high precision for positioning and compact mechanism compared with conventional serial link manipulators. For these Parallel Manipulators, it can be expected to work in the new fields such that the medical operation, high-precision processing technology and so on. For this expectation, it is necessary to control the action reaction pair of forces which act between the Parallel Manipulator and the operated object. In this paper, we analyze the dynamics of the 6DOF Parallel Manipulator and present numerical simulation results.

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References

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