A Study on the Development of 6DOF Vibration Simulator for Human Vibration Experiment

인체진동 실험용 6 자유도 가진기 개발에 관한 연구

In this paper, we introduce a modified six-degrees-of-freedom parallel-link manipulator, which will be applied to the human vibration experiments. We analyze the inverse kinematics and workspace of this manipulator and comprehend the characteristics of kinematics analyzed. Additionally, solutions of forward kinematics are obtained through the iterative Newton-Raphson method known as one of the most used numerical analysis. Finally, dynamic equation of the manipulator is derived in closed form through the Newton-Euler approach, which will be used for the development of control software.