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http://dx.doi.org/10.5302/J.ICROS.2006.12.10.1035

A Forward Closed-Form Position Solution, Kinematic Analysis And Implementation of a Translational 3-DOF Parallel Mechanism Formed by Constraining a Stewart Platform Structure  

Shin Dong-Min (고려대 제어계측공학과 대학원)
Chung Jae-Heon (한양대 전자컴퓨터공학부 대학원)
Oh Se-Min (한양대 전자컴퓨터공학부 대학원)
Yi Byung-Ju (한양대 전자컴퓨터공학부)
Kim Whee-Kuk (고려대 제어계측공학과)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.12, no.10, 2006 , pp. 1035-1043 More about this Journal
Abstract
In this study, a translational 3-DOF parallel mechanism formed by constraining the Stewart Platform Mechanism is investigated. The translational 3-DOF parallel mechanism has three struts(3-UPS type serial subchains) and in addition, has a PPP type serial subchain in the middle of the mechanism. Firstly, the closed-form forward and reverse position solutions are derived for this mechanism. And analysis on kinematic characteristics using isotropic index of the Jacobian is conducted to examine effects of design parameters for the mechanism. Lastly, a prototype mechanism is implemented and the kinematic performance of the translational 3-DOF parallel mechanism was verified through experimental work.
Keywords
closed-form position solution; kinematic analysis; parallel mechanism; stewart platform;
Citations & Related Records
Times Cited By KSCI : 1  (Citation Analysis)
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