Hanyang University HumanRobotics Lab

Domestic Conference
우수한 기구학 특성을 가지는 새로운 병렬형 구형 3자유도 메커니즘의 구현
한국정밀공학회 학술발표대회 논문집
이석희, 김희국, 오세민, 이병주
[2004]우수한 기구학 특성을 가지는 새로운 병렬형 구형 3자유도 메커니즘의 구현.pdf (585.1K) 0회 다운로드 DATE : 2020-10-17 21:42:20
In our pervious paper, a new parallel-type spherical 3-degree-of-freedom mechanism consisting of a two-degree-of-freedom parallel module and a serial RRR subchain was proposed[1]. In this paper, its improved version is suggested and implemented. Differently from the previous 3-dof spherical mechanism, gear chains are incorporated into the current version of the mechanism to drive the distal revolute joint of the serial subchain from the base of the mechanism and in fact, the modification significantly improves kinematic characteristics of the mechanism within its workspace. Firstly, after a brief description on its structure, the closed-form solutions of both the forward and the reverse position analysis are derived. Secondly, the first-order kinematic model of the mechanism for the inputs which are assumed to be located at the base is derived. Thirdly, through the simulations of the kinematic analysis via. kinematic isotropic index, it is confirmed that the mechanism has much more improved isotropic properties throughout the workspace of the mechanism than the previous mechanism in [1]. Lastly, the proposed mechanism is implemented to verify the results from this analysis.