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Workspace and Kinematical Characteristics of Planar Parallel Manipulator with Simple  

최기봉 (한국기계연구원 지능형정밀기계연구부 로봇제어그룹)
Publication Information
Journal of the Korean Society for Precision Engineering / v.20, no.3, 2003 , pp. 97-104 More about this Journal
Abstract
This paper proposes a new parallel manipulator fur plane motion, and then discusses on the workspace and kinematical characteristics of the manipulator. The conventional planar parallel manipulators have some disadvantages which are complex non-closed type direct kinematics, workspaces containing useless voids, and concave type border tines of workspaces. The proposed planar parallel manipulator overcomes the above disadvantages, that is, the manipulator has simple closed type direct kinematics, a void-free workspace, and a convex type borderline of a workspace. This paper shows the simulation result of the workspace as well as performances indices using a homogeneous inverse Jacobian.
Keywords
Planar parallel manipulator; Closed-loop mechanism; Direct kinematics; Inverse kinematics; Inverse Jacobian; Workspace;
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Times Cited By KSCI : 1  (Citation Analysis)
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