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Kinematic Analysis and Implementation of a Spherical 3-Degree-of-Freedom Parallel Mechanism  

Lee, Seok-Hee (고려대학교 대학원)
Kim, Whee-Kuk (고려대학교 제어계측공학과)
Oh, Se-Min (한양대학교 전자컴퓨터공학부)
So, Byung-Rok (한양대학교 전자컴퓨터공학부)
Yi, Byung-Ju (한양대학교 전자컴퓨터공학부)
Publication Information
Journal of the Korean Society for Precision Engineering / v.22, no.11, 2005 , pp. 72-81 More about this Journal
Abstract
A new spherical-type 3-degree-of-freedom parallel mechanism consisting of a two degree-of-freedom parallel module and a serial module is proposed. Two alternative designs for the serial sub-chain are suggested and compared. The first design employs RU joint arrangement for the serial sub chain structure. The second design incorporates a gear chain to drive the distal revolute joint of the serial sub-chain from the base platform of the mechanism. This modification significantly improves kinematic characteristics of the mechanism within its workspace. Firstly, the closed-form solutions of both the forward and the reverse position analysis are derived. Secondly, the first-order kinematic model with respect to three inputs which are located at the base is derived. Thirdly, it is confirmed through simulation that the modified mechanism has much more improved isotropic characteristic throughout the workspace of the mechanism. Lastly, the proposed mechanism is implemented to verify the results from this analysis.
Keywords
Parallel Mechanism; Closed-form Solution; Kinematic Analysis; Kinematic Isotropic Index;
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Times Cited By KSCI : 1  (Citation Analysis)
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