가변형 병렬기구에 대한 작업공간과 힘/모멘트 전달 특성 해석

Workspace and Force-Moment Transmission of a Parallel Manipulator with Variable Platform

  • 김병창 (경남대학교 기계자동화공학부) ;
  • 이세한 (경남대학교 기계자동화공학부)
  • 발행 : 2006.02.01


Kinematic and dynamic characteristics of a Stewart platform based parallel manipulators are fixed once they are constructed. Thus parallel manipulators with various configurations are required to meet a variety of applications. In this research a parallel manipulator with variable platform (PMVP) has been developed, in which the length of the arm linking the platform center to the platform-leg contact point can be varied by an actuator. The workspace of the PMVP is larger than that of a traditional Stewart platform and especially the range in which the maximum orientation angles can be maintained is significantly expanded. Furthermore, the characteristics of force and moment transmission between the legs and platform can be adjusted to meet the requirements of various tasks. Kinematic and dynamics analysis was performed to verify the usefulness of the PMVP and the actual hardware was built to demonstrate the feasibility.


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