미세구동을 위한 3자유도 병렬식 매니퓨레이터 개발에 관한 연구

Development of Three D.O.F. Parallel Manipulator for Micro-motion

In this paper, we have treated the modeling and development of three degree of freedom parallel manipulator for micromotion based on the Stewart platform type parallel structure. the kinematic modeling was derived from the relation between base coordinate and platform anr the dynamic modeling was from the method of Kinematic Influence Coefficients(KIC) and transferring of the generalized coordinates. Using this method, we presented the method to choose the actuator and joint by investigating the actuating forces needed when the manipulator moves along the given trajectory. In the end, the prototype manipulator was developmented and evaluated.