Publication

Hanyang University HumanRobotics Lab

International Conference
Architectural Singularity Analysis and Design Optimization of A Parallel Mechanism with a Suspended Platform
Conference
2009 International Conference on Mechatronics and Automation
Author
H. Lim, B.-J. Yi, and S.-H. Lee
Year
2009
Date
2009.08.31
File
Architectural Singularity Analysis and Design Optimization of A Parallel Mechanism with a Suspended Platform.pdf (7.1M) 0회 다운로드 DATE : 2020-10-19 22:32:47
Abstract: This paper deals with the kinematics and optimization of a parallel mechanism with a suspended platform. The proposed mechanism has a unique appearance in that the 6 chains originating from a circular ring are connected to both ends of a suspended platform. After introducing the kinematics, the architectural singularity is analyzed and the design is optimized to minimize the architectural singularity maximally. And the motion characteristics are observed by 3D simulation.