Browse > Article
http://dx.doi.org/10.7746/jkros.2012.7.2.101

Workspace Optimal Design of Parallel Mechanisms Reflecting the Singularity Locations  

Kang, Jae-Koo (고려대학교 대학원 제어계측공학과)
Kim, Whee-Kuk (고려대학교 제어계측공학과)
Publication Information
The Journal of Korea Robotics Society / v.7, no.2, 2012 , pp. 101-112 More about this Journal
Abstract
It is well-known that when singularities are located within the workspace of the parallel mechanism (PM), the usefulness of its workspace is significantly deteriorated. To handle this problem, we suggest an optimal design method which leads to more useful and larger workspace of the PM by taking its singularity locations into consideration in design process. Kinematic models of three selected planar PMs, a 5R type PM, a 3-RPR type planar PM, and a 3-RRR type planar PM, are derived via screw theory and their singularity analyses are conducted. Then workspace optimal designs for those three PMs are conducted to verify that the suggested design method leads more useful and larger workspace in which deterioration by singularity is minimal.
Keywords
Optimal Design; Useful Workspace; Parallel Mechanism; Singularity Analysis; Screw Theory; Kinematic Anaysis;
Citations & Related Records
Times Cited By KSCI : 1  (Citation Analysis)
연도 인용수 순위
1 X.J. Liu, J. Wang, and G. Pritschow, "On the optimal kinematic design of the PRRRP 2-Dof parallel mechanism," Mechanism and Machine Theory, 41, 2006, pp.1111-1130.   DOI
2 G. Castelli, E. Ottaviano, and M. Ceccarelli, "A fairly general algorithm to evaluate workspace characteristics of serial and parallel manipulators," Mechanics Based Design Structures and Machines, Vol.36, pp.14-33, 2008.   DOI
3 M.Z. Huang and J.L. Thebert, "A study of workspace and singularity characteristics for design of 3-DOF planar parallel robots," International Journal of Advanced Manufacturing Technology," Vol.51, pp.789-797, 2010.   DOI
4 S.M. Kim, W.K. Kim, and B.J. Yi, "Kinematic Analysis and Optimal Design of a 3T1R Type Parallel Mechanism," in Proc. IEEE Int. Conf. onRobotics and Automation, pp.2199-2204, 2009.
5 김성목, 김희국, 이병주, "4-RRPaRR구조의 Schonflies Motion Generator 기구학 특성 분석," 로봇학회논문지, Vol.6, No.1, pp.78-85, 2011.
6 강재구, 김희국, "특이형상의 영향을 고려한 메커니즘의 유효 작업공간 설계방법," 한국정밀공학회 추계학술회의 논문집, pp.217-218, Oct., 2011.
7 J.P. Merlet, "Parallel robots," Kluwer academic publications, 2000.
8 D.I. Kim, W.K. Chung, and Y. Youm, "Geometrical approach for the workspace of 6-dof parallel manipulators," IEEE Int'l conf. on robotics and automation, pp.2986-2991, 1997.