• 한국생산제조학회지
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• 제23권2호
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• pp.164-172
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• 2014

This paper presents a method for analyzing the stiffness of full and low DOF (degree of freedom) planar parallel manipulators with serially connected legs. The individual stiffness of each leg is obtained by applying reciprocal screws to the leg twist using passive joints and elastic elements consisting of actuators and links. Because the legs are connected in parallel, the manipulator stiffness is determined by summing the individual leg stiffness values. This method does not require the assumption that springs should be located along reciprocal screws and is applicable to a planar parallel manipulator with a generic or singular configuration. The stiffness values of three planar parallel manipulators with different DOFs are analyzed. The numerical results are confirmed using ADAMS S/W.

• 동력기계공학회지
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• 제19권6호
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• pp.5-11
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• 2015

The 6DOF (degrees of freedom) Parallel Manipulators have some advantages that are high power, high rigidity, high precision for positioning and compact mechanism compared with conventional serial link manipulators. For these Parallel Manipulators, it can be expected to work in the new fields such that the medical operation, high-precision processing technology and so on. For this expectation, it is necessary to control the action reaction pair of forces which act between the Parallel Manipulator and the operated object. In this paper, we analyze the dynamics of the 6DOF Parallel Manipulator and present numerical simulation results.

• 한국정밀공학회지
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• 제14권12호
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• pp.56-65
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• 1997

This paper presents the robot program for propeller grinding. A robot manipulator is constructed by combining a parallel and a serial mechanism to increase high sitffness as well as workspace. The robot program involves inverse/direct kinematics, velocity mapping, Jacobian, and etc. They are cerived in efficient formulations and implemented in a real time control. A velocity control is used to measure the hight of a propeller blade with a touch probe and a position control is performed to grind the surface of the blade.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1995년도 춘계학술대회 논문집
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• pp.246-250
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• 1995

This paper presents a method in analyzing the output force/moments transmission form the applied input forces of the paralled manipulator. Like a serial manipulator the Jacobian matrix introduced in the paper plays role in relating the output forces/monents with the input forces. The force/moment manipulability have been investigated by considering the force transmission and momen transmission independently. Sensitivity analysis has been done and an illuatrating example is given.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.1396-1401
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• 2004

In recent years, robot has been used widely in industrial field and has been expanded as a result of continous research and development for high-speed and miniaturization. The goal of this paper is to design the special serial manipulator through the understanding of the structure, mobility, and analysis of serial manipulator. Thereafter we control the position and orientation of end-effector with respect to time. In general, a structure of industrial robot consists of several links connected in series by various types of joints. Typically revolute and prismatic joints. The movement of these joints is determined in inverse kinematic analysis. Compared to the complicated structure of parallel and hybrid robot, open loop system retains the characteristic that each link is independent and is controlled easily by AC servomotor that is used to place the robot end-effector toward the accurate point with the desired speed and power while it is operated by position control algorithm. The robot end-effector should trace the given trajectory within the appropriate time. The trajectory of 3D end-effector model made by OpenGL can be displayed on the monitor program simultaneously

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1996년도 추계학술대회 논문집
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• pp.781-786
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• 1996

In this paper, output precision characteristic of planar 3 and 6 degree-of-freedom parallel mechanisms are investigated. The 6 degree-of-freedom mechanism is formed by adding an additional small link along with an actuated joint in each of serial subchain of the 3 degree-of-freedom mechanism. First, kinematic analysis for two parallel mechanisms are performed, then their first-order kinematic characteristics are examined via isotropic index and minimum velocity transmission ratio of the mechanisms. It can be concluded that the planar 6 degrees-of-freedom parallel mechanism can be very effectively employed as a high-precision macro-micro manipulator from the analysis results when its link lengths are properly chosen.

• 한국군사과학기술학회지
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• 제10권3호
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• pp.161-172
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• 2007

This article suggests an inverse kinematics analysis of a two degree of freedom spatial parallel motion simulator and design methodology of the robust PID controller. The parallel motion simulator consists of a fixed base and a moving frame connected by two serial chains, with each serial chain containing one revolute joint and two passive spherical joint. First, an inverse kinematics problems are solved in order to find the joint variable necessary to bring the end effector to track the desired trajectory. Second, an inverse optimal PID controller is proposed to track trajectories in the face of uncertainty. And the $H_{\infty}$ optimality and robust stability of the closed-loop system is acquired through the PID controller. Finally numerical results show the effectiveness of the PID controller that is designed by square/linear tuning laws.

• 제어로봇시스템학회논문지
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• 제4권3호
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• pp.360-371
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• 1998

In this paper, output precision characteristics of a planar 6 degree-of-freedom parallel mechanisms are investigated, where the 6 degree-of-freedom mechanism is formed by adding an additional link along with an actuated joint in each serial subchain of the planar 3 degree-of-freedom parallel mechanism. Kinematic analysis for the parallel mechanism is performed, and its first-order kinematic characteristics are examined via kinematic isotropic index, maximum and minimum input-output velocity transmission ratios of the mechanisms. Based on this analysis, two types of planar 6 degrees-of-freedom parallel manipulators are selected. Then, dynamic characteristics of the two selected planar 6 degree-of-freedom parallel mechanisms, via Frobenius norms of inertia matrix and power modeling array, are investigated to compare the magnitudes of required control efforts of both three large actuators and three small actuators when the link lengths of three additional links are changed. It can be concluded from the analysis results that each of these two planar 6 degrees-of-freedom parallel mechanisms has an excellent control-in-the-small characteristics and therefore, it can be very effectively employed as a high-precision macro-micro manipulator when both its link lengths and locations of small and large actuators are properly chosen.

• International Journal of Precision Engineering and Manufacturing
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• 제2권1호
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• pp.76-80
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• 2001

A binary parallel robot manipulator uses actuators that have only two stable states being built by stacking variable geometry trusses on top of each other in a long serial chain. Discrete characteristics of the binary manipulator make it impossible to analyze an inverse kinematic problem in conventional ways. We therefore introduce new definitions of workspace and inverse kinematic solution, and the apply a genetic algorithm to the newly defied inverse kinematic problem. Numerical examples show that our genetic algorithm is very efficient to solve the inverse kinematic problem of binary robot manipulators.

• 한국생산제조학회지
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• 제19권2호
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• pp.171-177
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• 2010

This paper presents the development of a new 6-DOF parallel-kinematic motion simulator. The moving platform is connected to the fixed base by six P-S-U (Prismatic-Spherical-Universal) serial chains. Comparing with the well-known Gough-Stewart platform-type motion simulator, it uses commercialized linear actuators mounted at the fixed base whereas a 6-UPS manipulator uses telescopic linear ones. Therefore, the proposed motion simulator has the advantages of easier fabrication and lower inertia over a 6-UPS counterpart. Furthermore, since most forces acting along the legs are transmitted to the structure of linear actuators, smaller actuation forces are required. The inverse position and Jacobian matrix are analyzed. In order to further increase workspace, inclined arrangement of universal joints is introduced. The optimal design considering workspace and force transmission capability has been performed. The prototype motion simulator and PC-based real-time controller have been developed. Finally, position control experiment on the prototype has been performed.