정밀 작업용 6자유도 병렬 머니퓰레이터의 기구학 해석Kinematic 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.
Publisher
대한기계학회
Issue Date
1999-04
Language
Korean
Citation

대한기계학회 논문집 A권, v.23, no.4, pp.630 - 641

ISSN
1226-4873
URI
http://hdl.handle.net/10203/69200
Appears in Collection
ME-Journal Papers(저널논문)
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