Journal of the Korean Society for Precision Engineering (한국정밀공학회지)

Korean Society for Precision Engineering (한국정밀공학회)
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Geometric Singularity Avoidance of a 3-SPS/S Parallel Mechanism with Redundancy using Conformal Geometric Algebra

여유자유도를 가진 3-SPS/S 병렬 메커니즘의 등각 기하대수를 이용한 기하학적 특이점 회피

  • Kim, Je Seok (Department of Automotive Engineering, Hanyang University) ;
  • Jeong, Jin Han (Department of Automotive Engineering, Hanyang University) ;
  • Park, Jahng Hyon (Department of Automotive Engineering, Hanyang University)
  • 김제석 (한양대학교 미래자동차공학과) ;
  • 정진한 (한양대학교 미래자동차공학과) ;
  • 박장현 (한양대학교 미래자동차공학과)
  • Received : 2014.08.07
  • Accepted : 2015.02.16
  • Published : 2015.03.01
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Abstract

A parallel mechanism with redundancy can be regarded as a means for not only maximizing the benefits of parallel mechanisms but also overcoming their drawbacks. We proposed a novel parallel mechanism by eliminating an unnecessary degree of freedom of the configuration space. Because of redundancy, however, the solution for the inverse kinematics of the developed parallel mechanism is infinite. Therefore, we defined a cost function that can minimize the movement time to the target orientation and found the solution for the inverse kinematics by using a numerical method. In addition, we proposed a method for determining the boundary of the geometric singularity in order to avoid singularities.

Keywords

References

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