• Title/Summary/Keyword: 병렬 메니퓰레이터

Search Result 1, Processing Time 0.013 seconds

Dynamic Modeling of 2 DOF Parallel Manipulator (2 자유도 병렬 메니퓰레이터의 동적 모델링)

  • Lee, Jong Gyu;Lee, Sang Ryong;Lee, Choon Young;Yang, Seung Han
    • Journal of the Korean Society for Precision Engineering
    • /
    • v.31 no.10
    • /
    • pp.897-904
    • /
    • 2014
  • In this paper, two-DOF parallel manipulator has the sliders which execute a linear reciprocating motion depending on parallel guides and the end-effector which can be adjusted arbitrarily. To investigate the dynamic characteristics of the manipulator, the dynamic performance index is used. The index is able to be obtained by the relation between the Jacobian matrix and the inertia matrix. The kinematic and the dynamic analysis find these matrices. Also, the dynamic model of the manipulator is derived from the Lagrange formula. This model represents complicated nonlinear equations of motion. With the simulation results of the dynamic characteristic of the manipulator, we find that the dynamic performance index is based on the selection of the ranges for the continuous movement of the manipulator and the dynamic model derived can be used to the control algorithm development of the manipulator.