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Nam, Yun-Joo;Lee, Yuk-Hyung;Park, Myeon-Kwan
- Transactions of the Korean Society of Mechanical Engineers A
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- v.30 no.12 s.255
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- pp.1564-1572
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- 2006
This paper presents the kinematics and workspace optimization of the two different 2-DOF (Degrees-of-Freedom) planar parallel mechanisms: one (called 2-RPR mechanism) with translational actuators and the other (called 2-RRR mechanism) with rotational ones. First of all, the inverse kinematics and Jacobian matrix of each mechanism are derived analytically. Then, the workspace including the output-space and the joint-space is systematically analyzed in order to determine the geometric parameters and the operating range of the actuators. .Finally, the kinematic optimization of the mechanisms is performed with regards to their dexterity, stiffness and space utilization. It is expected that the optimization results can be effectively used as a basic material for the applications of the presented mechanisms to more industrial fields.
https://doi.org/10.3795/KSME-A.2006.30.12.1564 인용 PDF KSCI

Lee Seok Hee;Lee Jung Hun;Kim Whee Kuk;Yi Byung Ju
- Journal of the Korean Society for Precision Engineering
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- v.22 no.8 s.173
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- pp.118-127
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- 2005
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.
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Kim, Jeong-Hun;Jang, Dae-jin;Park, Tae-Wook;Yang, Hyun-Seok;Lee, Sang-Moo
- Proceedings of the KSME Conference
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- 2004.11a
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- pp.725-730
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- 2004
This paper has regarded mechanism design of cane-like passive type walking aid for the elderly using 3-RPS parallel manipulator. First, gait patterns of the elderly have been experimented. By means of motion capturing and image processing, we decided loaded forces and places of the cane when the elderly walked with a cane. Using these results we have developed a passive type walking aid. Second, the walking pattern has been simulated using dynamic analysis program, ADAMS and we find out the similarity between the real walking and the simulated walking. Finally after assuring the similarity, with adjusting the new mechanism design to the simulated walking we will decide whether the walking aid is safe and stable when the elderly walks with this cane-like walking aid. This paper will be basis for the development of the mechanism design applying 3-RPS parallel manipulator.
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정완섭;우춘규;김수현;윤각진
- Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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- 1998.04a
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- pp.296-301
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- 1998
In this experiments of design, vibration evaluation, and test of vehicles, aircraft, and other mechanisms the development of vibration simulator that serves environment similar to real fields takes lots of advantages. Especially, in the real field test of vehicles it possesses the advantages of showing the dynamic characteristics of the vehicle. In this study, to investigate the validity and fitness of proposed 6DOF parallel link mechanism we simulated that mechanism.
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