Proceedings of the KSME Conference (대한기계학회:학술대회논문집)

The Korean Society of Mechanical Engineers (대한기계학회)
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Modeling of a 4-axis redundant stage by using SimMechanics

SimMechanics를 이용한 4축 과구동 스테이지의 모델링

  • 이진영 (국민대학교 일반대학원 기계설계학과) ;
  • 박원준 (국민대학교 일반대학원 기계설계학과) ;
  • 원종진 (국민대 기계자동차공학부) ;
  • 정재일 (국민대 기계자동차공학부)
  • Published : 2008.11.05
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Abstract

In this paper, kinematic analysis for a planar 3-DOF redundant stage which has four actuators is presented by using SimMechanics software package. SimMechanics is a block sets of the Matlab/Simulink package. The SimMechanics enables a simplified model for a complex kinematic mechanism, since kinematic relationship between joints and linkages for the kinematic chains are expressed as line vectors and block diagrams. Here, positional error and limit values of movement ranges of the stage are evaluated by using the SimMechanics. The validity of the kinematic characteristics model was compared with theoretical kinematic analyses for the 3-DOF stage.

Keywords