• 제목/요약/키워드: Prismatic joint

검색결과 22건 처리시간 0.026초

새로운 6자유도 병렬 매니퓰레이터의 기구학 해석 (Kinimatic Analysis of a New Clss of 6-DOF Parallel Manipulator)

  • 변용규;조형석
    • 대한기계학회논문집A
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    • 제20권2호
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    • pp.414-430
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    • 1996
  • In this paper, a new kinematic structure of a parallel manipulator with six Cartesian degrees of freedom is proposed. It consists of a platform which is connected to a fixed base by means of 3-PPSP(parameters P, S denote the prismatic, spherical joints) subchains. Each subchain has a link which is concected to a passive prismatic joint at the one end and a passive spherical joint at the other. The spherical joint is then attached to perpendicularly arranged prismatic actuators which are fixed at the base. The spherical joint is then attached to perpendicularly arranged prismatic actuators which are fixed at the base. This arrangement provides a basis to control all six Cartesian degrees of motion of the platform in space. Due to its efficient architecture, the colsed-form solutions of the inverse and forward kinematics can be obtained. As a consequence, this new kinematic structure can be servo controlled using simple inverse kinematics becaese forward kinematics allows for measuring the platform's position and orientation in Cartesian space. Furthermore, the proposed structure provides an effective functional workspace. Series of simulations are performed to verify the results of the kinematics analyses.

미끄럼 관절 콤플라이언스를 활용한 평면형 3 자유도 RCC 메카니즘의 해석 (Analysis of a Planar 3 DOF RCC Mechanism using Prismatic Joint Compliances)

  • 김희구;김동국;이병주
    • 한국정밀공학회:학술대회논문집
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    • 한국정밀공학회 1994년도 추계학술대회 논문집
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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.

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3관절 매니퓰레이터의 일반적 조합에 대한 역기구학적 폐형해 (Closed Form Inverse Kinematic Solutions for General Combination of Three-Joint Manipulator)

  • 한규범
    • 한국정밀공학회:학술대회논문집
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    • 한국정밀공학회 1995년도 춘계학술대회 논문집
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    • pp.363-368
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    • 1995
  • A general method of solving inverse kinematics of three-joint manipulator composed of revolute joints or prismatic joints or combinations of those joints is presented in this study. In completing real-time control, it is very important to obtain the closed form solutions of inverse kinematics rather than iterative numerical solutions, because iterative numerical solutions are generally much slower than the corresponding closed form solutions. If it is possible to obtain the inverse kinematic solutions for general cases of considering twist anlges and offsets, the manipulator work space can be designed and enlarged more effciently for specific task. Moreover, in idustrial manipulators, the effect of main three joints is larger than that of the other three joints related to orientation in the view of work space. Therfore the solutions of manin three-joint are considered. Even The inverse kinematic equations are complicatedly coupled, the systematical solving process by using symbolic calculation is presented.

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Trajectory control of a flexible manipulator with a prismatic joint

  • Park, Chang-Yong;Ono, Toshiro;Nishibayashi, Tatsuya
    • 제어로봇시스템학회:학술대회논문집
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    • 제어로봇시스템학회 1992년도 한국자동제어학술회의논문집(국제학술편); KOEX, Seoul; 19-21 Oct. 1992
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    • pp.613-617
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    • 1992
  • The tracking control problem of a flexible manipulator with a prismatic joint along a given path is discussed. The nondimensionalization of the elastic part of the manipulator makes it possible to model such a flexible manipulator. For a discontinuous velocity trajectory, an optimal control theory has been applied to formulate the problem. The optimal scheme is given to find the input commands(e.g., joint torques) necessary to produce a, specified end effector motion. Simulated results show the potential use of this scheme for a discontinuous velocity trajectory control.

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RBS 연결부를 갖는 보에 대한 부등 단면 보 요소 (Non-Prismatic Beam Element for Beams with RBS Connection)

  • 김기동;고만기;황병국;배창규
    • 한국강구조학회 논문집
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    • 제16권6호통권73호
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    • pp.833-846
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    • 2004
  • 포스트-노스리지 연결부를 사용하는 강재 보의 탄성거동을 모델하기 위한 부등 단면 보 요소가 제안된다. 감소 단면 (RBS) 연결부를 갖는 부등단면 부재에 대한 탄성 강성 매트릭스는 수치적분이 필요치 않는 수식으로 표현되고 전단 효과를 포함하고 있다. 또한 균일 단면 보 요소를 사용하여 RBS 연결부를 갖는 보를 모델 하는 간략 방법이 제안된다. 이 방법의 장점은 기존의 보 요소를 사용하여 RBS 연결부를 사용하는 강재 모멘트 골조의 최대 층간 상대 변위 비를 상당히 정확하게 예측할 수 있다는데 있다. 강재 모멘트 골조의 탄성 강성에 감소 단면 연결부가 미치는 영향이 조사되었고, 절점에서의 변형을 고려하기 위한 적절한 모델 선정이 골조의 최대 층간 상대변위 비를 정확히 예측하는데 감소 단면 연결부보다 중요한 역할을 하였다.

로보트 accuracy향상을 위한 kinematic identification (Kinematic Iidentification for Improving Robot Accuracy)

  • 조선휘;김문상;김귀식;장현상
    • 제어로봇시스템학회:학술대회논문집
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    • 제어로봇시스템학회 1989년도 한국자동제어학술회의논문집; Seoul, Korea; 27-28 Oct. 1989
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    • pp.131-137
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    • 1989
  • The effect of kinematic model choice on robot calibration is examined. This paper presents a complete formulation to identify the actual robot kinematic parameters directly from position data. The method presented in this paper applies to any serial link manipulator with arbitrary order and combination of revolute and prismatic joint.

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Design of a novel haptic mouse system

  • Choi, Hee-Jin;Kwon, Dong-Soo;Kim, Mun-Sang
    • 제어로봇시스템학회:학술대회논문집
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    • 제어로봇시스템학회 2002년도 ICCAS
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    • pp.51.4-51
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    • 2002
  • $\textbullet$ A noval haptic mouse system is developed for human computer interface. $\textbullet$ Five bar mechanism is adapted for 2 dof force feedback with virtual environment. $\textbullet$ Double prismatic joint type mechanism is adapted to reflect 1 dof grabbing force feedback. $\textbullet$ Cable driven mechansim is used for actuation to reduce backlash and endow backdrivability. $\textbullet$ Virtual wall perception experiment is conducted to obtain force specification for haptic mouse. $\textbullet$ Average mouse workspace is measured using magnetic position tracker.

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2단 평행기구 로봇 암의 실시간 순방향 기구학 해석 (Real-time direct kinematics of a double parallel robot arm)

  • 이민기;박근우
    • 대한기계학회논문집A
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    • 제21권1호
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    • pp.144-153
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    • 1997
  • The determination of the direct kinematics of the parallel mechanism is a difficult problem but has to be solved for any practical use. This paper presents the efficient formulation of the direct kinematics for double parallel robot arm. The robot arm consists of two parallel mechanism, which generate positional and orientational motions, respectively. These motions are decoupled by a passive central axis which is composed of four revolute joints and one prismatic joint. For a set of given lengths of linear actuators, the direct kinematics will find the joint displacements of th central axis from geometric constraints in each parallel mechanism. Then the joint displacements will be converted into the position and the orientation of the end effector of the robot arm. The proposed formulation is decoupled and compacted so that it will be implemented as a real-time direct kinematics. With the proposed formulation, we analyze the motion of the double parallel robot and show its characteristics. Specially, we investigate the workspace in terms of positional space as well as orientational space.

두 개의 플랫폼을 가지는 새로운 타입의 공간 4 자유도 병력기구의 조합 및해석 (Synthesis and Analysis of a New Class of Spatial4-DOF Parallel Mechanism with Two Platforms)

  • 윤정원;류제하
    • 대한기계학회:학술대회논문집
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    • 대한기계학회 2003년도 추계학술대회
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    • pp.1482-1487
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    • 2003
  • This paper presents a new family of 4-DoF parallel mechanism with two platforms. The new mechanism is composed of front and rear platforms, and three limbs. Two limbs with 6dof joint (P-P-S-P) are attached to the each platform and are perpendicular to baseplate, while the middle limb with 4-Dof joints (R-R-R-P or R-R-P-P) is attached to the revolute joint that connect front and rear platform. The two-DoF-driving mechanism at the middle limb with two base-fixed prismatic actuators can generate the heaving and roll motions or two translational motions. Therefore, Therefore, the new 4-Dof parallel mechanism (1T-3R) can generate pitch motions at each platforms, roll, and heaving motions, while another type of new 4-Dof parallel mechanism (2T-2R) can generate pitch motions at each platforms, x and z translational motions. For 1T-3R mechanism, kinematic analyses including inverse, forward kinematics, and Jacobian are performed.

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증강 현실 기반의 순방향 기구학 시뮬레이터 (Forward Kinematics Simulator based on Augmented Reality)

  • 김재영;문광석;박한훈
    • 한국방송∙미디어공학회:학술대회논문집
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    • 한국방송∙미디어공학회 2018년도 하계학술대회
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    • pp.43-44
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    • 2018
  • 본 논문에서는 로봇 매니퓰레이터의 순방향 기구학 학습에 있어서 로봇의 비용적인 측면으로 인하여 실재 로봇 매니퓰레이터를 교보재로 사용하여 실습을 하기에 제한되는 환경과 교재만으로 학습하는 제한된 환경에서 학생들이 이해하는 것 뿐만 아니라 검증이나 실험을 하기가 어려운 점을 개선하기 위해서 증강현실 기반의 시뮬레이터를 제안한다 로봇 기구학에서는 주로 교재를 사용하는데 실재로 존재하는 모델보다 회전 관절(revolute joint)과 병진 관절(prismatic joint) 모형의 조합으로 모델링한다 관절의 모형을 일종의 증강현실의 마커로 사용하여 교재에서 제안하는 모델에 더해서 개인이 조합한 모델 또한 실습이 가능하도록 하는 증강현실 시뮬레이터를 제안한다.

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