• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.531-534
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• 1996

In this work, we investigate the characteristics of output compliance matrix of a planar 3 degree-of-freedom parallel mechanism when joint compliances are attached to the mechanism redundantly. It is shown by simulation that by attaching redundant joint compliances symmetrically to the mechanism, the translational and rotational compliances can be arbitrarily modulated within some ranges. This property could be effectively used in the control of the compliance characteristics of actively adjustable RCC devices.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1996.11a
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• pp.793-798
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• 1996

In this paper, output compliance effects at RCC point by both redundant joint compliances and antagonistic torques generated by internal preloading between joints of a spherical 3 degree-of-freedom mechanism are investigated. For this purpose, kinematic analysis is briefly described. Then, output compliance models at RCC point, which is generated by redundant joint compliances and by internal preloading between joints are derived. Finally, ranges of output compliance modulation due to these redundant joint compliances and antagonistic torques are examined through simulation.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1994.04a
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• pp.395-400
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• 1994

Most of Commercial Remote Center Compliance(RCC) devices have been designed using deformable structures. In this work, we propose another type of assembly devices which generate the compliance effects by attaching the compliances (or spring) at the joints of the given mechainsm. The compliance models are derived for a serial-type, parallel-type, and hybrid-type mechanisms, respectively. In particular, a planar three-degree of freedom parallel structure is shown to have RCC points at the center of the workspace for its symmetric configuratings.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1994.10a
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• pp.611-616
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• 1994

Most of Commercial Remote Center Compliance(RCC) devices have been designed using deforma ble structures. In this work, we propose another type of assembly devices which generate the compliance effec ts by attaching the compliances (or spring) at the prismatic joints of the griven mechainsm. First, the kinematic analysis for a parallel-type planar 3-degree-of-freedom mechanism is performed using modified transfer method of generalized coordinate. Then, compliance characteristics for the mechanism using prismatic joint compliances are investigated. In particular, when the system maintains its symmetric configuration, the mechanism is show n to have RCC points at the center of the workspace. Finally, sensitivity analysis around RCC points is perfor med.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.718-721
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• 1996

In this work, an effective stiffness generated by internal loading for a planar 3 degrees of freedom RCC mechanism is investigated. For this purpose, the internal kinematic analysis and antagonistic stiffness modeling for this mechanism are performed. It is shown that the antagonistic stiffness could be effectively created at the center of the mechanism in its symmetric configuration.