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http://dx.doi.org/10.3795/KSME-A.2004.28.7.904

Kinematic Manipulability Analysis of the Casing Oscillator  

Nam, Yun-Joo (부산대학교 대학원)
Park, Myeong-Kwan (부산대학교 기계공학부 및 기계기술연구소)
Publication Information
Transactions of the Korean Society of Mechanical Engineers A / v.28, no.7, 2004 , pp. 904-914 More about this Journal
Abstract
In this paper, input-output velocity and force transmission characteristics of the Casing Oscillator which is a construction machine with 4 degrees of freedom are examined. After the Jacobian matrix is decomposed into the linear part and angular part, the velocity and force transmission characteristics for the linear and angular workspace are easily analyzed and visualized even if the Casing Oscillator has the spatial dimensional workspace with 4 DOF. Regarding the manipulability measure of the Casing Oscillator, the kinematic isotropic index and the manipulability measure which represent the isotropy and volume of the manipulability ellipsoid, respectively, are combined to coincidently consider them with respect to equivalent ranges and fluctuations. A performance of the Casing Oscillator is evaluated by the newly proposed manipulability measures.
Keywords
Casing Oscillator; Jacobian Matrix; Kinematic Isotropic Index; Manipulability Ellipsoid; Manipulability Measure;
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Times Cited By KSCI : 2  (Citation Analysis)
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