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Analysis on Kinematic Characteristics for Spatial 3-DOF Parallel Mechanisms Employing Stewart Platform Structure  

Lee Seok Hee (고려대학교 대학원)
Lee Jung Hun (고려대학교 대학원)
Kim Whee Kuk (고려대학교 제어계측공학과)
Yi Byung Ju (한양대학교 컴퓨터공학부)
Publication Information
Journal of the Korean Society for Precision Engineering / v.22, no.8, 2005 , pp. 118-127 More about this Journal
Abstract
A spatial 3 degrees-of-freedom mechanism employing Stewart Platform structure is proposed: the mechanism maintains the 3- RRPS structure of Stewart Platform but has an additional passive PRR serial sub-chain at the center area of the mechanism in order to constrain the output motion of the mechanism within the output motion space of the added PRR serial subchain. The forward and reverse position analyses of the mechanism are performed. Then the mechanism having both the forward and the reverse closed-form solutions is suggested and its closed form solutions are derived. It is confirmed, through the kinematic analysis of those two proposed mechanisms via kinematic isotropic index, that both the proposed mechanisms have fairly good kinematic characteristics compared to the existing spatial 3-DOF mechanisms in literature.
Keywords
Stewart Platform Mechanism; Parallel Mechanism; Closed-form Solution; Kinematic Analysis; Kinematic Isotropic Index;
Citations & Related Records
Times Cited By KSCI : 2  (Citation Analysis)
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