Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Simplex Analysis of the Forward Kinematics of 6-Degree-of-Freedom Parallel Manipulators Using Constraints with the Closed-loop Kinematics(Tetrahedron)

구속조건(사면체)을 사용한 6자유도 병렬 매니퓰레이터의 정기구학의 단순화 해석

  • Song, Se-Kyong (Dept. of Mechanical Engineering, Korea Advanced Institute of Science and Technology) ;
  • Kwon, Dong-Soo (Dept. of Mechanical Engineering, Korea Advanced Institute of Science and Technology)
  • 송세경 (한국과학기술원 기계공학과) ;
  • 권동수 (한국과학기술원 기계공학과)
  • Published : 2000.07.01
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Abstract

This paper proposes simple and practical methods in order to overcome complex formulation and heavy computational burden of the forward kinematics of 6 앨 3-6 type parallel manipulators. Three ap-proaches for the forward kinematics are presented : one extra sensor a modified structure and novel numerical method. The proposed methods are applied to the forward kinematics of a new 6 앨 parallel manipulator with special geometry that has three internal links three external links and a moving platform of a cone shape. The proposed methods use three tetrahedrons for finding the position and orientation vector of the moving platform. The main advantages of the appraches using tetrahedrons are to abbreviate the formulation to easily find so-lutions of the forward kinematics and to be able to practically control of the manipulator in real time.

Keywords

References

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