The Journal of Korea Robotics Society (로봇학회논문지)

Korea Robotics Society (한국로봇학회)
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Analysis of the Redundant Actuation Characteristics of the Planar 3-DOF Parallel Mechanism

평면형 3자유도 병렬 메커니즘의 여유 구동 특성 분석

  • Jeon, Jung In (Electro-Mechanical System Engineering, Korea University at Sejong) ;
  • Oh, Hyun Suk (Electro-Mechanical System Engineering, Korea University at Sejong) ;
  • Woo, Sang Hun (Electro-Mechanical System Engineering, Korea University at Sejong) ;
  • Kim, Sung Mok (Electro-Mechanical System Engineering, Korea University at Sejong) ;
  • Kim, Min Gun (Advanced Mechanical Engineering, Kangwon National University) ;
  • Kim, Whee Kuk (Electro-Mechanical System Engineering, Korea University at Sejong)
  • Received : 2017.01.11
  • Accepted : 2017.04.24
  • Published : 2017.05.31
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Abstract

A redundantly actuated planar 3-degree-of-freedom parallel mechanism is analyzed to show its high application potential as a haptic device. Its structure along with the closed form forward position solutions is briefly discussed. Then its geometric and kinematic characteristics via singularity analysis, the kinematic isotropy index, and the input-output force transmission ratio are investigated both for the redundantly actuated cases and for the non-redundantly actuated case. In addition, comparative joint torque simulations of the mechanism with different number of redundant actuations as well as without redundant actuation are conducted to confirm the improved joint torque distribution characteristics. Through these analyses it is shown that the geometric and kinematic characteristics of the redundantly actuated mechanism are superior to the ones of the mechanism without redundant actuation. Thus, it can be concluded that the suggested planar mechanism with redundant actuation has a very high potential for haptic device applications.

Keywords

References

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