• 대한기계학회논문집A
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• 제37권1호
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• pp.89-95
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• 2013

본 연구에서 병렬형 매니퓰레이터는 두 개의 평행판 위를 움직이는 슬라이더와 말단장치가 임의로 조정될 수 있는 링크를 가지고 있고, 두 개의 슬라이더에 각각 연결된 링크는 커플링운동을 한다. 매니퓰레이터의 정기구학 및 역기구학 해석을 통하여 슬라이더의 위치 및 말단장치의 위치 사이의 관계식을 나타내는 변위방정식을 유도하고, 유도된 방정식으로부터 정기구학 및 역기구학의 자코비안 행렬들을 구한다. 이러한 행렬들을 이용하여 매니퓰레이터의 지역 성능지수를 제안한다. 성능지수의 시뮬레이션 결과로부터, 매니퓰레이터는 한 사분면에서만 원활한 운동을 할 수 있고, 링크 길이 비와 말단장치의 자세가 최대 성능지수가 분포하는 영역의 변화에 중대한 영향을 미친다.

• 한국반도체및디스플레이장비학회:학술대회논문집
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• 한국반도체및디스플레이장비학회 2005년도 춘계 학술대회
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• pp.180-183
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• 2005

본 논문에서는 새로운 형태의 혼합형 5자유도 마이크로 매니퓰레이터를 제안하고 개발하고자 한다. 제안된 기구는 평면형 2자유도 XY-stage와 공간형 3자유도 병렬 기구로 구성된다. 3자유도 병렬기구는 3개의 직렬체인으로 이루어져 있으며, 공간상에서 두 방향의 회전 움직임과 Z축 방향으로의 병진운동을 생성한다. 모의실험을 통하여 개발된 기구의 작업공간과 출력단에서의 정밀도 해석을 수행한다. 개발된 기구는 조작 대상 물체의 미세 위치제어를 필요로 하는 반도체 및 기계, 생물, 의료분야 등에 적용 될 수 있다.

• 한국공작기계학회논문집
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• 제13권3호
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• pp.68-75
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• 2004

Recently, need of the parallel manipulator requiring superior precision is increasing for medical application and precision manufacturing. In this study, we convert a given complex translation trajectory of the moving platform into a set of segments and hence a complex motion of the moving platform can be tractable and easily controled in a very limited workspace. In addition force exerted. to each link is minimized so that the minimized force can be transmitted to the end effector of the moving platform. An user friendly program is developed to design Gough-type 6DOF parallel manupulator based on the proposed method.

• 한국공작기계학회논문집
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• 제17권3호
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• pp.1-7
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• 2008

This paper describes the kinematics which is a new type of parallel manipulator, and the neural network is applied to solving the forward kinematics problem. The parallel manipulator called it as a Stewart platform has an easy and unique solution about the inverse kinematics. However, the forward kinematics is difficult to get a solution because of the lack of an efficient algorithm caused by its highly nonlinearity. This paper proposes the neural network scheme of an Newton-Raphson method alternatively. It is found that the neural network can be improved its accuracy by adjusting the offset of the obtained result.

• 대한기계학회논문집A
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• 제28권5호
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• pp.495-502
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• 2004

In this paper, kinematic structure of parallel manipulator having 6-DOF is determined to follow the specific trajectory represented by several curves expressed by the parametric variable functions. In addition, the parallel manipulator is designed to have a high dexterity by considering a kinematic isotropy which can stabilize the motion of the moving platform in the restricted workspace.

• 한국정밀공학회지
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• 제13권4호
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• pp.109-121
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• 1996

This paper presents how the input forces along the prismatic joints of a parallel manipulator are transmitted to the upper platform. In order to consider force transmission and moment transmission seperately the Jacobian matrix for parallel manipulators is splitted into two parts. Magnitudes of input forces on the six actuators at a given manipulator configuration which generate maximum/minimum output force with no moment generated on the platform are obtained through the singular value decomposition of a matrix involving the Jacobian. Similarly the directions of the input forces to obtain only the rotation of the platform have been analyzed. Using the singular values a simple equation for the volume of ellipsoid which is a good tool for manipulability measure is provided. Obtained results could be useful in determinimg design parameters like radius of plaform, angles between joints, etc. Simulations are porvided.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2000년도 춘계학술대회 논문집
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• pp.557-560
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• 2000

The Purpose of this study is analysis of kinematic for a modified manipulator and experimental test to certify auto-balancing operation. The test is carried out as follows. First, we solve the inverse kinematics and then do a closed loop control. Second we confirm translation displacement and rotation angle of a manipulator.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2011년도 춘계학술대회 논문집
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• pp.385-386
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• 2011

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2011년도 춘계학술대회 논문집
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• pp.93-94
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• 2011

• 한국정밀공학회지
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• 제26권7호
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• pp.127-133
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• 2009

We present a $3-{\underline{P}}RS$ compliant parallel manipulator actuated by PZTs. The motion ranges are $400-{\mu}m$ translation to the z-direction and 5.7-mrad rotation about any axis on the x-y plane. A mechanical amplifier whose advantage is approximately 5.5 is designed and integrated with flexure revolute and spherical joints in a monolithic way. We evaluated the performance of the system: kinematic and dynamic characteristics. In kinematic point of view, the flexures play the roles of conventional mechanism but any nonlinearity such as dead-zone and backlash, which make it possible to achieve the steady-state resolution less than $0.1{\mu}m$. The system shows resonance near 86 Hz with high magnitude and, therefore, poor transient response. But the settling is faster when the flexures are strained higher.