• Title/Summary/Keyword: Parallel kinematic

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Kinematic calibration for parallel micro machine platform (마이크로 병렬기구 플랫폼의 기구학적 보정)

  • 강득수;김종원
    • Proceedings of the Korean Society of Precision Engineering Conference
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    • 2004.10a
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    • pp.969-972
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    • 2004
  • This paper describes the mechanism of parallel micro machine platform and its feedback control system for acquiring high accuracy. The parallel micro machine platform that has developed has 5x5x5 work-space and sub-micron accuracy. For the high accuracy, the feedback control system is important but errors in machining and assembling are inevitable. Kinematic calibration is important for this reason. In this paper, various error components are introduced and the effects of error component are analyzed.

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Analysis of Parallel Mechanisms with Forward Position Closed-Form Solution with Application to Hybrid Manipulator (정위치 해석해를 가지는 병렬 메카니즘에 관한 분석과 혼합구조 매니퓰레이터로의 활용)

  • 김희국;이병주
    • Journal of Institute of Control, Robotics and Systems
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    • v.5 no.3
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    • pp.324-337
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    • 1999
  • In this work, a new 3-PSP type spatial 3-degree-of-freedom parallel mechanism is proposed. And a 6 DOF hybrid manipulator which consists of a 3-PPR type planar 3 DOF parallel mechanism and a new 3-PSP type spatial 3-degree-of-freedom parallel mechanism is proposed. Both 3 DOF mechanism modules have closed-form forward position solutions and particularly, 3-PSP spatial module has unique forward position solution. Firstly, the closed-form position analysis and first-order kinematic analysis for the proposed 3-PSP type module are carried out, and the first-order kinematic characteristics are examined via maximum singular value and the isotropic index of the mechanism. It is shown through these analyses that the mechanism has excellent isotrpic property throughout the workspace. Secondly, position and kinematic analysis of the 3-PPR planar module are briefly described. Thirdly, the forward position analysis for the 3-PPR 3-PSP type 6 degree-of-freedom hybrid mechanism consisting of a 3-PPR planar module and a 3-PSP spatial module is performed along with the analysis of the workspace size and first-order kinematic characteristics. The kinematic characteristics of the proposed hybrid manipulator are compared to those of geometrically similar Stewart manipulator.

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Experimental Results on Kinematic Calibration of Parallel Manipulator using 6 DOF Measurement Device (6자유도 측정 장치를 이용한 병렬 기구의 캘리브레이션 실험 결과)

  • Rauf Abdul;Pervez Aslam;Kim Hyun-Ho;Ryu Je-Ha
    • Proceedings of the Korean Society of Precision Engineering Conference
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    • 2005.10a
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    • pp.197-203
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    • 2005
  • This paper presents kinematic calibration of parallel manipulators with partial pose measurements using a device that measures a rotation of the end-effector along with its position. The device contains an LVDT, a biaxial inclinometer, and a rotary sensor and facilitates automation of the measurement procedure. The device is designed in a modular fashion and links of different lengths can be used. The additional kinematic parameters required for the measurement device are discussed, kinematic relations are derived, and cost function is established to perform calibration with the proposed device. The study is performed for a six degree-of-freedom(DOF) fully parallel HexaSlide Mechanism(HSM). Experimental results show significant improvement in the accuracy of the HSM.

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A Forward Closed-Form Position Solution, Kinematic Analysis And Implementation of a Translational 3-DOF Parallel Mechanism Formed by Constraining a Stewart Platform Structure (스트워트 플랫폼 구조를 구속하여 얻어지는 병진형 3 자유도 병렬 메커니즘의 정위치 해석해와 기구학 해석 및 구현)

  • Shin Dong-Min;Chung Jae-Heon;Oh Se-Min;Yi Byung-Ju;Kim Whee-Kuk
    • Journal of Institute of Control, Robotics and Systems
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    • v.12 no.10
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    • pp.1035-1043
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    • 2006
  • In this study, a translational 3-DOF parallel mechanism formed by constraining the Stewart Platform Mechanism is investigated. The translational 3-DOF parallel mechanism has three struts(3-UPS type serial subchains) and in addition, has a PPP type serial subchain in the middle of the mechanism. Firstly, the closed-form forward and reverse position solutions are derived for this mechanism. And analysis on kinematic characteristics using isotropic index of the Jacobian is conducted to examine effects of design parameters for the mechanism. Lastly, a prototype mechanism is implemented and the kinematic performance of the translational 3-DOF parallel mechanism was verified through experimental work.

Analysis on Kinematic Characteristics for a Translational 3-DOF Parallel Mechanism with Constrained Stewart Platform Structure (스튜워트 플랫폼 구조를 이용한 병진 3-자유도 병렬 메커니즘의 기구학 특성 분석)

  • 이석희;김희국;이병주
    • Proceedings of the Korean Society of Precision Engineering Conference
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    • 2004.10a
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    • pp.525-529
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    • 2004
  • A novel translational 3-dof parallel mechanism is proposed and analyzed. The mechanism consists of three RRPS serial subchains and an additional passive 3-dof type serial subchain. Three RRPS serial subchains alone may form a structure of the 6-DOF Stewart Platform mechanism. However, in the proposed mechanism, an additional passive serial subchain acts as constraints to restrict the output motion of the mechanism in 3-DOF translational space. The closed form position solutions of the proposed mechanism and its first-order kinematic model are derived. Then its workspace size and kinematic characteristics are examined via kinematic isotropic index.

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Analysis on Kinematic Characteristics for a Spherical 3-DOF Parallel Mechanism with Constrained Stewart Platform Structure (스튜워트 플랫폼 구조를 이용한 구형 3-자유도 병렬 메커니즘의 기구학 특성 분석)

  • 이석희;김희국;이병주
    • Proceedings of the Korean Society of Precision Engineering Conference
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    • 2004.10a
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    • pp.520-524
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    • 2004
  • In this work, a novel spherical 3-dof parallel mechanism is proposed and analyzed. The mechanism consists of three RRPS serial subchains and an additional passive 3-dof type serial subchain. Three RRPS serial subchains alone may form a structure of 6-DOF Stewart Platform mechanism. However, in the proposed mechanism, an additional passive serial subchain acts as constraints to restrict the output motion of the mechanism within 3-DOF spherical space. The closed form solutions of position analysis of the proposed mechanism and its first-order kinematic model are derived. Then its workspace size and kinematic characteristics are examined via kinematic isotropic index.

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Implementation of a New Parallel Spherical 3-Degree-of-Freedom Mechanism With Excellent Kinematic Characteristics (우수한 기구학 특성을 가지는 새로운 병렬형 구형 3자유도 메커니즘의 구현)

  • 이석희;김희국;오세민;이병주
    • Proceedings of the Korean Society of Precision Engineering Conference
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    • 2004.10a
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    • pp.299-303
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    • 2004
  • In our pervious paper, a new parallel-type spherical 3-degree-of-freedom mechanism consisting of a two-degree-of-freedom parallel module and a serial RRR subchain was proposed[1]. In this paper, its improved version is suggested and implemented. Differently from the previous 3-dof spherical mechanism, gear chains are incorporated into the current version of the mechanism to drive the distal revolute joint of the serial subchain from the base of the mechanism and in fact, the modification significantly improves kinematic characteristics of the mechanism within its workspace. Firstly, after a brief description on its structure, the closed-form solutions of both the forward and the reverse position analysis are derived. Secondly, the first-order kinematic model of the mechanism for the inputs which are assumed to be located at the base is derived. Thirdly, through the simulations of the kinematic analysis via. kinematic isotropic index, it is confirmed that the mechanism has much more improved isotropic properties throughout the workspace of the mechanism than the previous mechanism in [1]. Lastly, the proposed mechanism is implemented to verify the results from this analysis.

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