Publication

Hanyang University HumanRobotics Lab

International Journal
Development of a novel two-limbed parallel mechanism having Schonflies motion
Journal
Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science
Vol
Vol. 229, No. 1
Page
pp. 136-154
Author
S. M. Kim, K. Shin, B.-J. Yi, and W. Kim
Year
2015
Date
2015.01
File
Development of a novel two-limbed parallel mechanism having Schonflies motion.pdf (2.0M) 0회 다운로드 DATE : 2020-10-18 16:57:01
Abstract: This paper introduces a novel parallel mechanism having Schönflies motion. The mechanism consists of only two RRPaR-type limbs. After a short description of its structure, its position analysis is conducted and its screw-based kinematic model is derived. Next, its singularity analysis is performed via Grassmann line geometry and then its optimal kinematic characteristics are examined with respect to workspace size and isotropy property. The results show that the proposed parallel mechanism has a very high potential to be used as a manipulator or a haptic device. A prototype of this mechanism was developed and tested to corroborate its performance.