Browse > Article
http://dx.doi.org/10.3795/KSME-A.2004.28.5.495

The 6-DOF Parallel Manipulator Having the Specific Trajectory Based on the Kinematic Isotropy  

Yang, Hyun-Ik (한양대학교 기계정보경영공학부)
Xu, Yuan-Ge (한양대학교 공과대학원 기계설계학과)
Publication Information
Transactions of the Korean Society of Mechanical Engineers A / v.28, no.5, 2004 , pp. 495-502 More about this Journal
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.
Keywords
Parallel Manipulator; Specific Trajectory; Kinematic Isotropy; Transformation Method; Motion Transmissibility;
Citations & Related Records
연도 인용수 순위
  • Reference
1 Zanganeh, K. E., and Angels, J., 1997, 'Kinematic Isotropy and Optimum Design of Parallel Manipulators,' Journal of Robotics Research, Vol. 16, No. 2, pp.185-197   DOI   ScienceOn
2 Huang, T., 1998, 'Local Dexterity and Optimal Architecture of Parallel Machine Tools,' Annals of the CIRP, Vol. 47, No. 1, pp. 347-351
3 Weijia, Li., 1999, 'Study on the Maximum Working Capability of Stewart Platform,' Machine design and Reserch, No.1
4 Yukio, Takeda., 1995, 'Evaluation of Spatial Isotropy of Output of Robotic Mechanisms,' Transactions of the Japan Society of Mechanical Engineers, (C) Vol. 61, No. 586, pp. 462-469   DOI
5 Gosselin, C., 1990, 'Determination of the Workspace of 6-DOF Parallel Manipulators,' Journal of Mechanism and Design, pp.331-336
6 Merlet, J. P., 1994, 'Trajectory Verification in the Workspace for Parallel Manipulators,' Journal of Robotics Research, Vol. 13, No. 4, pp. 326-333   DOI   ScienceOn
7 Takaaki, Oiwa., 1999, 'Coordinate Measuring Machine using Parallel Mechanism,' Journal of the Japan Society of Precision Engineering, Vol. 65, No. 10, pp. 288-292   DOI
8 Tsai, L. W. and Joshi, S., 2000,'Kinematics and Optimization of a Spatial 3-UPU Parallel Manipulator,' Journal of Mechanical Design, 122, pp. 439-446   DOI   ScienceOn