Kinematic Analysis of 6-Degree-of-Freedom Parallel Manipulator for Micro-Positioning Task

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This paper presents a new design of a parallel platform manipulator with a special geometry for micro-positioning applications that require dexterous motions and high precision. The proposed manipulator has three internal links, three external links and a moving platform of a cone shape. The main advantages of this manipulator, compared with the Stewart platform type, are investigated in kinematics. This manipulator has two only two forward kinematic solutions and no local minima within the workspace. Also, it has larger Euler angle sizes than the Stewart platform type due to three(not six) ball joints at the moving platform. When three internal links are fixed, this manipulator can make three rotational freedoms for the moving platform with three external links. A series of simulation are carried out to show the kinematic characteristics and the performance of the mechanism. The proposed manipulator has potential in a wide range of applications from microsurgery to highly dexterous assembly tasks.
Issue Date
1998-10
Language
KOR
Citation

Proceedings of the 13th Korea Automatic Control Conference, v.2, pp.1786 - 1789

URI
http://hdl.handle.net/10203/124802
Appears in Collection
ME-Conference Papers(학술회의논문)
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