• Title/Summary/Keyword: 병진

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A Study on Translational and Rotational Velocity Performance Indices of Six-Degree-of-Freedom parallel Mechanism (6자유도를 갖는 병렬형 기구의 병진속도와 회전속도 성능 지표에 관한 연구)

  • Kim, Chan-Soo
    • Journal of Korea Game Society
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    • v.10 no.6
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    • pp.57-65
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    • 2010

  • In this paper, mobility performance indices are proposed which may be used to estimate characteristics of output velocity space in six-degree-of-freedom parallel mechanism. In order for manipulability and condition number to not suffer from lack of the physical meaning due to dimensional inhomogeneity, output space is partitioned into translational velocity space and rotational velocity space, respectively. In each space, mobility ellipsoids corresponding to unit input space are defined and two types of mobility performance in translational velocity spaces indices are derived. Two types of mobility performance in rotational velocity spaces indices are derived.

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