Publication

Hanyang University HumanRobotics Lab

International Journal
Design of a new gravity balanced parallel mechanism with Schonflies motion
Journal
Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science
Vol
Vol. 230, No. 17
Page
pp. 3111-3134
Author
L. Kang, S.-M. Oh, W. Kim, and B.-J. Yi
Year
2016
Date
2016.10
File
Design of a new gravity balanced parallel mechanism with Schonflies motion.pdf (3.0M) 1회 다운로드 DATE : 2020-10-18 17:03:56
Abstract: In this paper, a new gravity-balanced 3T1R parallel mechanism is addressed. Firstly, structure description, inverse and forward kinematic modeling are performed in detail. Secondly, Jacobian derivation based on screw theory and singularity analysis using Grassmann Line Geometry is performed, and then optimal kinematic design with respect to workspace size, kinematic isotropy and maximum force transmission ratio are conducted. Thirdly, the gravity balancing design using both counterweights and springs is proposed and a prototype of this mechanism is also presented. Results of analysis show that the proposed mechanism has quite a few potential applications.