한국정밀공학회지 (Journal of the Korean Society for Precision Engineering)

  • 제29권9호
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  • Pages.971-977
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  • 2012
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  • 1225-9071(pISSN)
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  • 2287-8769(eISSN)
한국정밀공학회 (Korean Society for Precision Engineering)
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비과구동, 과구동 대칭형 5R 병렬기구의 구동 및 구조 강성의 이론적 해석

Theoretical Analyses on Actuator Stiffness and Structural Stiffness of Non-redundant and Redundant Symmetric 5R Parallel Mechanisms

  • 진상록 (서울대학교 기계항공공학부) ;
  • 김종원 (서울대학교 기계항공공학부) ;
  • 서태원 (영남대학교 기계공학부)
  • Jin, Sang-Rok (School of Mechanical and Aerospace Engineering, Seoul National Univ.) ;
  • Kim, Jong-Won (School of Mechanical and Aerospace Engineering, Seoul National Univ.) ;
  • Seo, Tae-Won (School of Mechanical Engineering, Yeungnam Univ.)
  • 투고 : 2011.09.28
  • 심사 : 2012.02.21
  • 발행 : 2012.09.01
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초록

Redundant actuated parallel kinematic machines (PKMs) have been widely researched to increase stiffness of PKMs. This paper presents theoretical analyses on the stiffness of non-redundant and redundant actuated PKM. Stiffness of each mechanism is defined by summation of actuator and structural stiffness; the actuator stiffness is determined from displacements of actuators, and the structural stiffness is determined from deformations of links by external forces. Calculated actuator and structural stiffness of non-redundant PKM show same distribution in entire workspace. On the contrary, the actuator and the structural stiffness of a redundant PKM has very different distribution in the workspace; so, we conclude the structural stiffness of redundant PKM should be considered to design the redundant PKM. The results can be used to design and analyze non-redundant and redundant PKMs.

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과제정보

연구 과제 주관 기관 : 한국연구재단

참고문헌

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피인용 문헌

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