Publication

Hanyang University HumanRobotics Lab

Domestic Journal
스튜워트 플랫폼 구조를 이용한 공간형 3자유도 병렬 메커니즘의 기구학 특성 분석
Journal
Journal of the Korean Society for Precision Engineering
Vol
Vol. 22, No. 8
Page
pp. 118-127
Author
이석희, 이정헌, 김희국, 이병주
Year
2005
Date
2005.08
File
스튜워트 플랫폼 구조를 이용한 공간형 3자유도 병렬 메커니즘의 기구학 특성 분석.pdf (2.8M) 0회 다운로드 DATE : 2020-10-16 22:16:18
Abstratc: A spatial 3 degrees-of-freedom mechanism employing Stewart Platform structure is proposed: the mechanism maintains the 3 - RRPS structure of Stewart Platform but has an additional passive PRR serial sub-chain at the center area of the mechanism in order to constrain the output motion of the mechanism within the output motion space of the added P RR serial subchain. The forward and reverse position analyses of the mechanism are performed. Then the mechanism having both the forward and the reverse closed-form solutions is suggested and its closed form solutions are derived. It is confirmed, through the kinematic analysis of those two proposed mechanisms via kinematic isotropic index, that both the proposed mechanisms have fairly good kinematic characteristics compared to the existing spatial 3-DOF mechanisms in literature 1.6.