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Development of a Novel 3-DOF Hybrid Robot with Enlarged Workspace

확장 작업업영역을 갖는 고속 3자유도 하이브리드 로봇 개발

  • Jeong, Sung Hun (Dept. of Mechanical Convergence Engineering, Kyungnam University) ;
  • Kim, Giseong (Dept. of Mechanical Convergence Engineering, Kyungnam University) ;
  • Gwak, Gyeong Min (Dept. of Mechanical Convergence Engineering, Kyungnam University) ;
  • Kim, Han Sung (Dept. of Mechanical Engineering, Kyungnam University)
  • 정성훈 (경남대학교 기계융합공학과) ;
  • 김기성 (경남대학교 기계융합공학과) ;
  • 곽경민 (경남대학교 기계융합공학과) ;
  • 김한성 (경남대학교 기계공학부)
  • Received : 2020.09.11
  • Accepted : 2020.10.05
  • Published : 2020.10.31

Abstract

In this paper, a novel 3-DOF hybrid robot with enlarged workspace is presented for high speed applications. The 3-DOF hybrid robot is made up of one linear actuator and 2-DOF planar parallel robot in series. The actuation consists of one ball-screw to make one linear motion and two rotary ball-screws to transmit rotational motion to 2-DOF parallel robot. The workspace can be enlarged according to ball-screw stroke and the moving inertia can be reduced due to locating all the heavy actuators at the fixed base. The inverse kinematics and workspace analyses are presented. The robot prototype and PC-based control system are developed.

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