Browse > Article

Design of the Parallel Manipulator for Minimizing the Extreme Articular Force in the Specific Translation Trajectory  

양현익 (한양대학교 공학대학 기계정보경영공학부)
이종우 (한양대학교 기계설계학)
허원혁 (한양대학교 기계설계학과)
Publication Information
Transactions of the Korean Society of Machine Tool Engineers / v.13, no.3, 2004 , pp. 68-75 More about this Journal
Abstract
Recently, need of the parallel manipulator requiring superior precision is increasing for medical application and precision manufacturing. In this study, we convert a given complex translation trajectory of the moving platform into a set of segments and hence a complex motion of the moving platform can be tractable and easily controled in a very limited workspace. In addition force exerted. to each link is minimized so that the minimized force can be transmitted to the end effector of the moving platform. An user friendly program is developed to design Gough-type 6DOF parallel manupulator based on the proposed method.
Keywords
Parallel Manipulator; Stiffness Matrix; Extreme Articular Force; Transformation Method;
Citations & Related Records
연도 인용수 순위
  • Reference
1 Optimum design of 3-DOF spherical parallel manipulators with respect to the conditioning and stiffness indices /
[ Liu, X. J.;Gao, F. ] / Mechanism and Machine Theory   DOI   ScienceOn
2 Designing a parallel manipulator for a specific workspace /
[ Merlet, J. P. ] / Research Report, 2527
3 Workspace and Optimal Design of a Pure Translation Parallel Manipulator /
[ Parenti, C. V.;Bubani, F. ] / Meccanica   DOI   ScienceOn
4 On the optimum design of Stewart platform type parallel manipulators /
[ Bhattacharya, S.;Hatwal, H.;Ghosh, A. ] / Robotica   DOI   ScienceOn
5 Kinematic Isotropy and the Optimum Design of parallel Manipulators /
[ Zanganeh, K. E.;Angels, J. ] / Journal of Robotics Research   DOI   ScienceOn
6 Kinematics and Optimization of a Spatial 3-UPU parallel manipulator /
[ Tsai, L. W.;Joshi, S. ] / Journal of Mechanical Design   DOI   ScienceOn
7 The Optimum Kinematic Design of a Spherical Three Degree of Freedom Parallel Manipulator /
[ Gosselin, C.;Angeles, J. ] / Journal of Mechanism Transmissions and Automation in Design   DOI   ScienceOn