제어로봇시스템학회:학술대회논문집

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Study on Development of a machining robot using Parallel mechanism

  • Park, Kun-Woo (School of Mechatronic Engineering, Changwon Nat’l University) ;
  • Kim, Tae-Sung (School of Mechatronic Engineering, Changwon Nat’l University) ;
  • Lee, Min-Ki (School of Mechatronic Engineering, Changwon Nat’l University) ;
  • Kyung, Jin-Ho (Robot & Control Group, Intelligence & Precision Machine Dept.,Korea Institute of Macinery and Materials)
  • Published : 2005.06.02
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Abstract

This research develops the robot for the machining work. For machining work(cutting, milling, grilling, etc.), a robot manipulator is constructed by combining a parallel and a serial mechanism to increase stiffness as well as enlarge workspace. Based on the geometric constraints, this paper develops the formulation for inverse/direct kinematics and Jacobian to design and control a robot. Workspace is also analyzed to prove the advantage of the proposed robot.

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