• 제목/요약/키워드: Parallel kinematic

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평행봉 피터스 동작의 운동학적 분석 (The Kinematic Analysis of Peters Motion on Parallel bars)

  • 윤희중;윤창선;김태삼
    • 한국운동역학회지
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    • 제14권2호
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    • pp.15-26
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    • 2004
  • The purpose of this study was to investigate the kinematic variables of peters motion in parallel bars. The subjects were 3 male national gymnasts. For this study, kinematic data were collected using video camera. Coordinate data were low-pass filtered using a fourth-order Butterworth with cutoff frequency of 6Hz. Each valuables analyzed was used to compare kinematic features between the subjects. The conclusions were as follows; 1. For a stable regrasp motion, the subjects appeared to increase horizontal and vertical displacement during the DS phase because it induce a vertical elastic of body and reaction of bar for the US phase. 2. For a stable hand standing motion of the regrasp, the subjects appeared to maintain the fast vertical and horizontal velocity during the DS phase, but in contrary during the US and Air phase the vertical and horizontal velocity appeared to do decrease. 3. When the arm lean angle and the trunk lean angle maintain a big angle during the DS phase, the subjects appeared to do a stable performance to release in a high position.

6축 병렬기구 공작기계의 머신 시뮬레이션과 앵글밀링헤드 적용에 관한 연구 (A Study on the Application of Machine Simulation and Angle Milling Head of a 6-Axis Parallel Kinematic Machine)

  • 이인수;김해지;김남경
    • 한국기계가공학회지
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    • 제16권5호
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    • pp.47-54
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    • 2017
  • This study examines the implementation of a kinematic machining tool to evaluate the interference and collision phenomenon of 5-axis machining of wing ribs from airplanes, particularly for a large-size model airplane. We develop a machine simulation model of a parallel kinematic machining tool that can operate in a virtual space, which is equivalent to the authentic conditions in the field. The investigation of the simulation function elements indicates the necessity to generate the 6-axis machining, which attaches an angle head to the main axis of the machine. Using an NC program for the wing ribs, we attempt to verify the correspondence and conformity between the machine simulation model and the actual equipment.

가변형 병렬기구에 대한 작업공간과 힘/모멘트 전달 특성 해석 (Workspace and Force-Moment Transmission of a Parallel Manipulator with Variable Platform)

  • 김병창;이세한
    • 제어로봇시스템학회논문지
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    • 제12권2호
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    • pp.138-144
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    • 2006
  • Kinematic and dynamic characteristics of a Stewart platform based parallel manipulators are fixed once they are constructed. Thus parallel manipulators with various configurations are required to meet a variety of applications. In this research a parallel manipulator with variable platform (PMVP) has been developed, in which the length of the arm linking the platform center to the platform-leg contact point can be varied by an actuator. The workspace of the PMVP is larger than that of a traditional Stewart platform and especially the range in which the maximum orientation angles can be maintained is significantly expanded. Furthermore, the characteristics of force and moment transmission between the legs and platform can be adjusted to meet the requirements of various tasks. Kinematic and dynamics analysis was performed to verify the usefulness of the PMVP and the actual hardware was built to demonstrate the feasibility.

공간오차 측정을 통한 6자유도 병렬기구의 보정 (Calibration of 6-DOF Parallel Mechanism Through the Measurement of Volumetric Error)

  • 오용택;아궁 샴수딘 사라기;김정현;고태조
    • 한국기계가공학회지
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    • 제11권3호
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    • pp.48-54
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    • 2012
  • This paper introduces the kinematic calibration method to improve the positioning accuracy of a parallel mechanism. Since all the actuators in the parallel mechanism are controlled simultaneously toward the target position, the volumetric errors originated from each motion element are too complicated. Therefore, the exact evaluation of the error sources of each motion element and its calibration is very important in terms of volumetric errors. In the calibration processes, the measurement of the errors between commands and trajectories is necessary in advance. To do this, a digitizer was used for the data acquisition in 3 dimensional space rather than arbitrary planar error data. After that, the optimization process that was used for reducing the motion errors were followed. Consequently, Levenberg-Marquart algorithm as well as the error data acquisition method turned out effective for the purpose of the calibration of the parallel mechanism.

병렬기구형 틸팅 테이블의 보정에 관한 연구 (Study on Calibration for Parallel-Typed Tilting Table)

  • 김태성;정진욱;김용희;박근우;이민기
    • 대한기계학회:학술대회논문집
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    • 대한기계학회 2003년도 추계학술대회
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    • pp.1512-1517
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    • 2003
  • This paper presents the calibration for the parallel typed tilting table. The calibration system needs only simple sensing device which is a digital indicator to measure the orientation of a table. The calibration algorithm is developed by a measurement operator. It eliminates the concern about the poor parameter observability due to a large number of parameters of parallel-mechanism. This paper uses the QR-decomposition to find the optimal calibration configurations maximizing the linear independence of rows of a observation matrix. The number of identifiable parameters is examined by the rank of the observation matrix, which represents the parameter observability. The method is applied to a Parallel-typed Tilting Table and all the necessary kinematic parameters are identifiable.

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Design of a Hybrid Serial-Parallel Robot for Multi-Tasking Machining Processes (ICCAS 2005)

  • Kyung, Jin-Ho;Han, Hyung-Suk;Ha, Young-Ho;Chung, Gwang-Jo
    • 제어로봇시스템학회:학술대회논문집
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    • 제어로봇시스템학회 2005년도 ICCAS
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    • pp.621-625
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    • 2005
  • This paper presents a new hybrid serial-parallel robot(HSPR), which has six degrees of freedom driven by ball screw linear actuators and motored joints. This hybrid robot design presents a compromise between high rigidity of fully parallel manipulators and extended workspace of serial manipulators. The hybrid robot has a large, singularity-free workspace and high stiffness. Therefore, the presented kinematic structure of the hybrid robot is particularly suitable for multi-tasking machining processes such as milling, drilling, deburring and grinding. In addition to the machining processes, the hybrid robot can be used for welding, fixturing, material handling and so on. The study on design of the hybrid robot is performed. A kinematic analysis and mechanism description of the hybrid robot with six-controlled degree of freedom is presented. In the virtual design works by DADS, workspace and force analysis are discussed. A numerical model is treated to demonstrate our analysis and to determine the range of permissible extension of the struts. Also, we determine some important design parameters for the hybrid robot.

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새로운 측정장비를 이용한 병렬구조 로봇의 보정에 관한 (Calibration of Parallel Manipulators using a New Measurement Device)

  • 압둘라우프;김성관;류제하
    • 대한기계학회:학술대회논문집
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    • 대한기계학회 2003년도 추계학술대회
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    • pp.1494-1499
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    • 2003
  • Kinematic calibration is a process whereby the actual values of geometric parameters are estimated so as to minimize the error in absolute positioning. Measuring all components of Cartesian posture, particularly the orientation, can be difficult. With partial pose measurements, all parameters may not be identifiable. This paper proposes a new device that can be used to identify all kinematic parameters with partial pose measurements. Study is performed for a six degree-of-freedom fully parallel Hexa Slide manipulator. The device, however, is general and can be used for other parallel manipulators. The proposed device consists of a link with U joints on both sides and is equipped with a rotary sensor and a biaxial inclinometer. When attached between the base and the mobile platform, the device restricts the end-effector's motion to five degree-of-freedom and can measure position of the end-effector and one of its rotations. Numerical analyses of the identification Jacobian reveal that all parameters are identifiable. Computer simulations show that the identification is robust for the errors in the initial guess and the measurement noise.

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병렬구조 로봇의 보정을 위한 보정 가능 변수 판별과 최적 자세 선정에 관한 연구 (Study on the Identifiable Parameters and Optimum Postures for Calibrating Parallel Manipulators)

  • 박종혁;김성관;압둘라우프;류제하
    • 대한기계학회:학술대회논문집
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    • 대한기계학회 2003년도 추계학술대회
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    • pp.1476-1481
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    • 2003
  • Kinematic calibration enhances absolute accuracy by compensating for the fabrication tolerances and installation errors. Effectiveness of calibration procedures depends greatly on the measurements performed. This paper investigates identifiable parameters and optimum postures for four different calibration procedures - measuring postures completely with inverse kinematic residuals, measuring postures completely with forward kinematics residuals, measuring only the three position components, and restraining the mobility of the end-effector using a constraint link. The study is performed for a six degree-of-freedom fully parallel HexaSlide type parallel manipulator, HSM. Results verify that all parameters are identifiable with complete posture measurements. For the case of position measurements, one and for the case of constraint link, three parameters were found non-identifiable. Selecting postures for measurement is also an important issue for efficient calibration procedure. Typically, the condition number of the identification Jacobian is minimized to find optimum postures. Optimal postures showed the same trend of orienting themselves on the boundaries of the search space.

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A new kinematic formulation of closed-chain mechanisms with redundancy and its applications to kinematic analysis

  • Kim, Sungbok
    • 제어로봇시스템학회:학술대회논문집
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    • 제어로봇시스템학회 1995년도 Proceedings of the Korea Automation Control Conference, 10th (KACC); Seoul, Korea; 23-25 Oct. 1995
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    • pp.396-399
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    • 1995
  • This paper presents a new formulation of the kinematics of closed-chain mechanisms and its applications to obtaining the kinematic solutions and analyzing the singularities. Closed-chain mechanisms under consideration may have the redundancy in the number of joints. A closed-chain mechanism can be treated as the parallel connection of two open-chains with respect to a point of interest. The kinematics of a closed-chain mechanism is then obtained by imposing the kinematic constraints of the closed-chain on the kinematics of the two open-chains. First, we formulate the kinematics of a closed-chain mechanism using the kinematic constraint between the controllable active joints and the rest of joints, instead of the kinematic constraint between the two open-chains. The kinematic formulation presented in this paper is valid for closed-chain mechanisms with and without the redundancy. Next, based on the derived kinematics of a closed-chain mechanism, we provide the kinematic solutions which are more physically meaningful and less sensitive to numerical instability, and also suggest an effective way to analyze the singularities. Finally, the computational cost associated with the kinematic formulation is analyzed.

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