Publication

Hanyang University HumanRobotics Lab

International Conference
Optimum Design of a New 4-DOF Parallel Mechanism
Conference
제어로봇시스템학회 국제학술대회 논문집
Author
J. H. Chung, B. -J. Yi, and W. K. Kim
Year
2005
Date
2005.06.02
File
[2005]Optimum Design of a New 4-DOF Parallel Mechanism.pdf (1.8M) 0회 다운로드 DATE : 2020-10-17 22:01:10
Recently, lots of parallel mechanisms for spatial 3-DOF and 6-DOF were investigated. However, research on 4-DOF and 5-DOF parallel mechanisms has been very few. In this paper, we propose a 4-DOF parallel mechanism that consists of 3-rotational and 1-translational motions. The kinematic characteristics of this mechanism are analyzed in terms of an isotropic index and maximum force transmission ratio, and its kinematic optimization is being conducted to ensure enhanced kinematic performances.