서지주요정보
3-PPS(RRR)P 직렬관절로 구성된 6자유도 병렬 매니퓰레이터에 관한 연구 = Analysis and design of a 6 degree of freedom 3-PPS(RRR)P parallel manipulator
서명 / 저자 3-PPS(RRR)P 직렬관절로 구성된 6자유도 병렬 매니퓰레이터에 관한 연구 = Analysis and design of a 6 degree of freedom 3-PPS(RRR)P parallel manipulator / 변용규.
발행사항 [대전 : 한국과학기술원, 1997].
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등록번호

8008236

소장위치/청구기호

학술문화관(문화관) 보존서고

DADE 97003

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리뷰정보

초록정보

A novel kinematic structure for a parallel manipulator with 6-DOF is proposed. It consists of a platform which is connected to a fixed base by means of 3-PPSP (P:prismatic joint, S:spherical joint) subchains. Each subchain is connected to a passive prismatic joint at the one end and a passive spherical joint at the other. The spherical joint is then attached to perpendicularly arranged prismatic actuators which are fixed to the base. Due to the efficient architecture the unique solution of the platform position and orientation can be computed from the active input displacement, since the closed form solution is possible for the forward kinematics which is similar to the case of a serial robot. Especially, the general closed-form solutions of forward kinematics derived in this study can be applied directly to any other mechanism which has three prismatic joints constrained to move on the top plate, as long as axes of those three prismatic joints of the mechanism intersect at some point of the moving plate of the mechanism and three arbitrary positions connected to those three prismatic joints are specified. In other words, real-time computation for all forward kinematics solutions is feasible without any additional 6-axis absolute position sensor. It is expected that by using results of this study, the computation burden in real time control of this type of system will be reduced and calibration procedure in implementing the real system can be easily performed. Translational and rotational workspace determinations of the manipulator are carried out through the computation of displacements in the active prismatic joints. It has a relatively small but effective functional workspace in which the volume is proportional to the range of linear displacement of the active prismatic joints. The workspace size of the mechanism is investigated when the magnitude of the maximum rotational displacement of each of three spherical joints and the maximum linear displacement of each of three passive prismatic joints are varied. A Jacobian matrix for the proposed structure is derived so the relationship between actuator forces and output forces/moments of the mechanism can be analyzed. A series of simulations were performed to verify the results of the kinematics analyses and to evaluate the load characteristics of the system. The results showed us a relatively homogeneous load distribution characteristic with respect to any external forces exerted to the platform and the configurational changes of the manipulator. A kinematic and dynamic optimal design procedure of 3-PPSP parallel manipulator that involves various local and multi-criteria performance optimizations are performed. The composite design index using fuzzy logic is employed to deal with the multi-criteria based design problems. Dynamic analyses are also performed using Lagrangian method and kinematic influence coefficients approach. The dynamic characteristics of the mechanism is analyzed by investigating the isotropic characteristics of the output effective inertia matrix with respect to the input joint vectors. A prototype manipulator system based on the proposed concept is built to show the feasibility of the mechanism.

서지기타정보

서지기타정보
청구기호 {DADE 97003
형태사항 xvi, 229 p. : 삽도 ; 26 cm
언어 한국어
일반주기 부록 : 동력학 해석
저자명의 영문표기 : Yong-Kyu Byun
지도교수의 한글표기 : 조형석
지도교수의 영문표기 : Hyung-Suck Cho
수록 잡지명 : "Analysis of a novel six-degree-of-freedom 3-PPSP parallel manipulator". The International journal of robotics research. MIT Press (1997)
학위논문 학위논문(박사) - 한국과학기술원 : 자동화및설계공학과,
서지주기 참고문헌 : p. 196-206
주제 병렬 매니퓰레이터
정기구학
6자유도
직렬부속관절
해석해
Parallel manipulator
Forward kinematics
6DOF
Serial subchain
Closed-form solution
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